微型抛投侦查机器人传动轴变形分析及优化

Deformation Analysis and Optimization of Drive Shaft of Miniature Throwing Scout Robot

分析微型快换抛投式侦查机器人在实际5m高抛投实验中因着地时冲击力过大,导致机器人传动轴受力过大发生塑性变形的问题。通过有限元软件ANSYS Workbench/Explicit Dynamic对机器人模拟导致传动轴变形的跌落进行仿真实验。仿真结果找出传动轴发生变形的最薄弱的部位,并推算出最大等效应力。研究通过分析发现导致传动轴变形的主要原因有两个,一个是在机构设计中传动轴在轮毂与主体之间的间隙过大,另一个是材料本身的强度不够。为使传动轴能抵抗至少5m高的冲击,针对以上两个问题进行改进设计,在进行相同的实际抛投实验和仿真实验中,传动轴部分结构和抗弯曲强度明显提升,其没有发生明显的塑性变形。

It analyzes the micro-quick change drop type detection experiment of bot in the actual 5m high toss shots because the impact is too large, robot stress plastic deformation of propeller shaft. By Explicit Dynamics finite element simulation of robot software ANSYS Workbench module, simulated drop of attitude cause of myopia in shaft deformation experiment of low profile, simulation result to find out the weakest part and calculated the maximum equivalent stress. Analyses found that caused by shaft deformation for two reasons, one is the main gaps in the design of the wheel drive shaft is too big and the other is the strength of the material itself is not enough. To enable the drive can withstand at least 5m high impact, these two problems were resolved, in the same experiment and simulation of the actual cast, drive shaft deformation events.