基于连续体模型应力评估的水下机器人刚度强化设计

Stiffness Enhancement Design of Underwater Vehicle Based on Stress Assessment of Continuum Model

为了提高水下机器人设计和制造的机械强度,提出一种基于连续体模型应力评估的水下机器人刚度强化设计方法。构造水下机器人刚度强化评估的应力学结构模型,分析机器人刚度强化加工的控制约束参量,采用连续体模型应力评估方法进行水下机器人的刚度加工机械设计的荷载力学分析,实现机器人解耦构型的机构耦合度、运动灵巧度、方位特征、构件应力以及屈服强度等参量的解耦运算,得到机器人机械结构优化构型的位置正解,通过应力评估和结构解耦性设计,提高水下机器人的水下抗载荷能力和强度。仿真结果表明,采用该方法进行水下机器人刚度强化设计,机器人的机械弹性载荷较高,水下应力载荷和抗压能力得到提升,对机器人机械设计的构型优选和加工工艺改进具有较好指导价值。

In order to improve the mechanical strength of the underwater robot design and manufacturing,a stiffness enhancement design method of underwater vehicle is proposed based on stress assessment of continuum model.Structural stiffness should be strengthen the evaluation model of the mechanical structure,stiffness strengthening processing parameter analysis of robot control constraints,the continuum model of stress evaluation methods for the analysis of underwater robot strength tempered processing machinery design load mechanics,robot decoupling structure coupling mechanism,dexterity,orientation,decoupling operation stress and yield strength parameters,get the optimal configuration of mechanical structure of the robot's position through the positive solution,stress evaluation and structure decoupling design,improve AUV underwater anti load capability and strength.The simulation results show that using the method of case for underwater robot rigidity design Meter,high elastic load mechanical robots,underwater stress and compressive load capacity has been improved,and has good guiding value on the configuration optimization and processing technology of robot mechanical design improvements.