仿生构件碰撞响应的动态子结构方法分析  

Dynamic Substructure Method for Impacting Response of Bionic Component

作　　者：宋孟军[1] 魏京功 魏坤 赵海军 SONG Mengjun;WEI Jinggong;WEI Kun;ZHAO Haijun(School of Auomotive and Tansportation,Tianjin University of Technology and Education,Tianjin 300222)

机构地区：[1]天津职业技术师范大学汽车与交通学院,天津300222

出　　处：《机械设计与研究》2023年第5期72-75,共4页Machine Design And Research

基　　金：天津市教委科研计划项目(2022KJ124);国家自然科学基金资助项目(62001329)。

摘　　要：为提高移动仿生机构的仿生性能,对仿生机构的腿地碰撞接触模型进行简化,利用动态子结构方法对碰撞过程的瞬态动力学响应进行研究。首先,引入了动态子结构方法,确定了接触碰撞的分离条件;其次,基于前述模态综合方法对仿生构件碰撞过程的瞬态响应特性进行求解,获得应力波,速度波,加速度波以及位移波沿杆长的及随时间推移的传播特性;最后,通过一比一的高速摄像系统对柔性碰撞系统进行高速拍摄记录,对所得结算结果进行验证,表明上述方法的有效性。For improvement of the bionic performance of the bionic mechanism,the model of a bionic mechanism impacting against the ground is simplified,and the propagations of the transient dynamic response of impacting process is investigated using dynamic substructure method.The dynamic substructure method is introduced,the contact and separation conditions are determined.The numerical solution of the transient dynamic response for the impacting process is investigated,and the stress waves,velocity wave,acceleration wave,and the displacement wave travelling along the bionic mechanism are acquired.A high speed video camera system is used to record the flexible collision system,and the experiment results confirmed the numerical model.

关 键 词：仿生机构 动态子结构 瞬态响应 碰撞动力学 

分 类 号：TH112[机械工程—机械设计及理论]