基于有限元法的电力巡线机器人机械结构动态特性分析

Dynamic Characteristics Analysis of Mechanical Structure of Electric Patrol Robot Based on Finite Element Method

电力巡线机器人往往工作在距地数十米的高空,经常承受随机性的风载荷,其机械结构的动态特性对其动态响应影响较大。以某轮飞式电力巡线机器人为研究对象,利用有限元软件,对其动态特性进行分析,通过分析获取结构的固有频率、振型等动态特性参数。分析结果表明:该机器人机械结构在约束状态下的前6阶固有频率分别为:4961.1 Hz、19722 Hz、29702 Hz、94488 Hz、121190 Hz、161450 Hz,各阶模态振型表现为:第1、5、6阶为结构绕Z轴的摆动振型,第2阶为结构绕Y轴的摆动振型,第3、4阶为结构绕X轴的摆动振型,其中第4、6阶模态对结构动态特性的影响最大。分析结果为该机器人机械结构的动态优化提供了理论基础。

Electric patrol robot often works tens of meters above the ground and bears random wind loads,and the dynamic characteristics of the mechanical structures have a great impact on their dynamic response.This paper studies a flying electric patrol robot.The dynamic characteristics of the robot are analyzed by using finite element software,and the natural frequencies and vibration modes of the structure are obtained through analysis.The results show that the first six natural frequencies of the mechanical structure are 4961.1,19722,29702,94488,121190 and 161450 Hz,respectively.In the first,fifth and sixth order,the swing modes of the structure are around Z axis.In the second order,the swing modes of the structure are around Y axis,and in the third and fourth order,the swing modes of the structure are around X axis.Among them,the fourth and sixth modes have the greater influence on the dynamic characteristics of the structure.The analysis results provide a theoretical basis for the dynamic optimization of the mechanical structure of the robot.