一种双电机驱动的无人机机械爪结构设计与有限元分析  

Design and finite element analysis of a dual-motor-driven UAV mechanical claw structure

作　　者：盛敬[1] 吴树良 刘国满[1] 马欣 SHENG Jing;WU Shuliang;LIU Guoman;MA Xin(Jiangxi Province Key Laboratory of Precision Drive and Equipment,Nanchang Institute of Technology,Nanchang 330099,China)

机构地区：[1]南昌工程学院精密驱动与装备江西省重点实验室,江西南昌330099

出　　处：《南昌工程学院学报》2025年第1期54-61,68,共9页Journal of Nanchang Institute of Technology

基　　金：南昌工程学院2024年度研究生创新计划项目(YJSCX202412)。

摘　　要：针对传统的无人机抓取系统多采用单一电机驱动,存在响应速度慢、抓取角度单一、对物体的形状适应性差等问题,通过理论计算和SolidWorks建模设计了一种抓取角度可调、形状适应性强、双电机驱动的飞行机械爪。首先对动力装置、传动装置和抓取装置三部分进行结构设计;然后通过ANSYS Workbench进行推拉曲柄和机架的静强度分析和寿命测试,对传动齿轮进行瞬态分析和齿根弯曲强度分析,拟合了迭代次数内摩擦应力变化。结果显示零件所受应力均小于材料的屈服强度,寿命达到持续运行下的工况要求;验证了机械爪的强度可靠性和材料合理性。In response to the difficulties in catching irregular objects and the problem of single grasping angles for mechanical claws carried by small multi-rotor aerial vehicles,this paper takes the catching mechanical claw carried by multi-rotor aerial vehicles as the research object and designs a rotatable four-finger mechanical claw.First,the mechanical claw model was established in SolidWorks and imported into ANSYS Workbench for finite element simulation of the main components of the mechanical claw.Static mechanical analysis was conducted on the push-pull crank,transient dynamic analysis was performed on the meshing gears,and modal analysis and topological optimization analysis were carried out on the claw bracket to obtain the total deformation and stress distribution cloud diagrams of each component.The analysis results show that during the catching process of the mechanical claw,the maximum stress of the push-pull crank is 7.46 MPa,which is much less than the material yield strength,and the deformation is less than 1 mm;the first-order natural frequency of the claw bracket is 59.833 Hz,which is much greater than the meshing and rotation frequency of the gears;the optimized claw bracket achieves lightweight design while ensuring basic mechanical performance,with all parts meeting the work requirements and making rational use of materials,reducing the impact of the claw movement on the rotor UAV,and providing a reference for the analysis and optimization of similar structures such as mechanical claws carried by rotor aerial vehicles.

关 键 词：双电机驱动 飞行机械爪 结构设计 静力学分析 瞬态动力学分析 

分 类 号：TH122[机械工程—机械设计及理论]