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复杂脚底形状对机器人脚沉陷中挤土效应影响的研究

徐佳炜 何钢 胡鹏 刘瑞峰 朱红

徐佳炜, 何钢, 胡鹏, 刘瑞峰, 朱红. 复杂脚底形状对机器人脚沉陷中挤土效应影响的研究[J]. 机械科学与技术, 2016, 35(12): 1930-1936. doi: 10.13433/j.cnki.1003-8728.2016.1221
引用本文: 徐佳炜, 何钢, 胡鹏, 刘瑞峰, 朱红. 复杂脚底形状对机器人脚沉陷中挤土效应影响的研究[J]. 机械科学与技术, 2016, 35(12): 1930-1936. doi: 10.13433/j.cnki.1003-8728.2016.1221
Xu Jiawei, He Gang, Hu Peng, Liu Ruifeng, Zhu Hong. Study on Soil Squeezing Effect of Complex Plantar Shape in Sinking of Robot's Foot[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(12): 1930-1936. doi: 10.13433/j.cnki.1003-8728.2016.1221
Citation: Xu Jiawei, He Gang, Hu Peng, Liu Ruifeng, Zhu Hong. Study on Soil Squeezing Effect of Complex Plantar Shape in Sinking of Robot's Foot[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(12): 1930-1936. doi: 10.13433/j.cnki.1003-8728.2016.1221

复杂脚底形状对机器人脚沉陷中挤土效应影响的研究

doi: 10.13433/j.cnki.1003-8728.2016.1221
基金项目: 

国家自然科学基金项目(51375141)资助

详细信息
    作者简介:

    徐佳炜(1992-),硕士研究生,研究方向为地面机械设计及理论,xujiawei0922@126.com

    通讯作者:

    何钢(联系人),副教授,博士,ihegang@163.com

Study on Soil Squeezing Effect of Complex Plantar Shape in Sinking of Robot's Foot

  • 摘要: 本文利用ABAQUS软件建立机器人脚-土壤的相互作用模型,采用任意拉格朗日-欧拉(arbitrary lagrangian-eulerian)方法,结合物质点追踪技术,分析机器人脚沉陷过程中脚底土壤的流动情况,通过讨论机器人脚在不同沉陷量下脚底内外侧土壤追踪点的位移和密度场分布,阐述脚底内外侧土壤的挤土效应。另外,通过分析主应力矢量变化、径向应力和竖向应力分布规律,发现了沉陷过程中脚底土壤形成主应力拱,局部区域内发生应力的传递和转移,作用于拱脚处的土体竖向压应力转化为拱内土体的径向压应力;第三主应力的偏转导致局部土体在沿竖向和径向上的应力发生叠加,中轴线上分别形成了竖向和径向应力峰值。
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出版历程
  • 收稿日期:  2015-05-08
  • 刊出日期:  2017-01-05

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