钢质壁面作业机器人底盘架结构静动力特性仿真  

Simulation on Static and Dynamic Characteristics of Chassis Structure of Robot for Steel Wall Working

作　　者：梁康养 严谨[2] 庞翠娟 Liang Kangyang;Yan Jin;Pang Cuijuan(College of Ocean Engineering and Energy,Guangdong Ocean University,Zhanjiang,Guangdong 524088,China;College of Shipping and Maritime Science,Guangdong Ocean University,Zhanjiang,Guangdong 524005,China)

机构地区：[1]广东海洋大学海洋工程与能源学院,广东湛江524088 [2]广东海洋大学船舶与海运学院,广东湛江524005

出　　处：《机电工程技术》2023年第9期173-177,201,共6页Mechanical & Electrical Engineering Technology

基　　金：广东省自然科学基金项目(2022A1515011562);广东省促进经济高质量发展专项项目(粤融办函[2020]161号,GDNRC[2021]56);湛江市科技计划项目(2020B01049)。

摘　　要：为了保证所设计的钢质壁面作业机器人的底盘架结构能够满足其机械特性,通过SolidWorks软件建立底盘架三维实体模型,利用ANSYS Workbench开展静力学、模态和谐响应的静动力特性仿真。静力学分析结果表明:底盘架结构在承受最大负载时的最大应力值为4.838 MPa;最大位移变形量为6.069 75×10^(-6)mm;强度和刚度均符合设计要求。模态分析结果表明:底盘架结构前6阶固有频率分布在291.32~613.62 Hz之间;结构的主要振型形式在Y轴方向和绕Y轴旋转方向。谐响应分析结果表明:特定激振频率下的薄弱位置在接近294.00 Hz和658.00 Hz两个固有频率时会发生共振,各激振频率下应力均满足强度要求。研究结果对解决共振问题有重要意义,可为机器人驱动电机选型、机械臂装置设计提供理论依据,为机器人后续设计及优化提供指导。In order to ensure that the chassis structure of the designed steel wall work robot can meet its mechanical characteristics,the 3D model of the chassis frame structure is designed and modeled by Solidworks,and ANSYS Workbench is used to carry out static dynamic characteristics simulation from its static mechanics,modal,and harmonious response.The static analysis results show that the maximum stress value of the chassis structure under maximum load is 4.838 MPa.The maximum displacement deformation is 6.06975×10^(-6) mm;Both strength and stiffness meet the design requirements.The modal analysis results show that the natural frequency distribution of the first six orders of the chassis structure is 291.32~613.62 Hz.The main mode shape of the structure is in theY-axis direction and the rotation around theY-axis.The harmonic response analysis results show that the weak position at a specific excitation frequency will resonate when it is close to the two natural frequencies of 294.00 Hz and 658.00 Hz,and the stress at each excitation frequency meets the strength requirements.The research results are of great significance for solving the resonance problem,which can provide a theoretical basis for the selection of robot drive motor and the design of robotic arm device,and provide guidance for the subsequent design and optimization of robots.

关 键 词：钢质壁面机器人 底盘架 静力学分析 模态分析 谐响应分析 

分 类 号：TH114[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]