运动副结构间隙的对救援机器人收放机构的影响分析与改进设计

肖玉林; 张西正; 侍才洪; 陈炜; 李浩; 黄林

doi:10.13433/j.cnki.1003-8728.2016.0603

运动副结构间隙的对救援机器人收放机构的影响分析与改进设计

doi: 10.13433/j.cnki.1003-8728.2016.0603

肖玉林¹,
张西正^1,2, ,,
侍才洪²,
陈炜¹,
李浩¹,
黄林³

1.
天津理工大学机械工程学院, 天津 300384;
2.
军事医学科学院卫生装备研究所, 天津 300161;
3.
军事交通学院军事物流系, 天津 300161

基金项目:

国家自然科学基金项目(11302147)资助与中国博士后科学基金项目军队系统二等(2012M512107)资助

详细信息

作者简介:
肖玉林(1988-),硕士研究生,研究方向为机器人机械结构的设计与开发,953364759@qq.com

通讯作者:
张西正(联系人),研究员,博士,博士生导师,z56787@sohu.com

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- 文章访问数: 182
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- 被引次数: 0
出版历程
- 收稿日期: 2014-07-15
- 刊出日期: 2016-06-05

Analyzing Impact of Kinematic Pair Structure Gap on Rescue Robot's Retraction Mechanism and Improving Its Design

1.
School of Mechanical Engineering, Tianjin University of Technology, Tianjin, 300384, China;
2.
Institute of Medical Equipment at Academy of Military Medical Science, Tianjin 300161, China;
3.
Department of Military Logistics, Military Transport Institute, Tianjin 300161, China

摘要

摘要: 结合一款救援机器人在收放实验过程中发生的机构变形卡滞现象,探究了机构受载特点和故障原因。利用仿真分析软件建立起了收放机构的刚柔耦合模型,采用刚柔耦合动力学仿真分析方法探究了设计加工误差和装配间隙对构件变形的影响。故障分析表明,机械结构设计造成的附加弯矩和加工、装配间隙是导致收放机构变形卡滞的重要影响因素。提出了优化设计方案并进行了刚柔耦合仿真验证分析。对比结果表明,优化方案有效地解决了机构中传动构件受载方式不合理的问题,有效地解决了机构的变形卡滞问题。
- 机器人 /
- 故障分析 /
- 计算机仿真 /
- 动力学分析
Abstract: Because deformation and clamping stagnation occur in the extension and retraction mechanism of a certain kind of rescue robot, this paper explores the extension and retraction mechanism's loading characteristics and causes of its failure. Its rigid-flexible coupling model was established by using computer simulation analysis software. How machining errors and assembly clearance affect the deformation of the mechanical components of the rescue robot was discussed. The error analysis shows that the additional moment caused by the mechanical structural design and machining errors as well as assembly clearances are significant contributors to the deformation of the extension and retraction mechanism. This paper also improved the design and redoes the computer simulation analysis. Compared with the previous results, the current results show that the improved design makes the loading characteristics reasonable and reduces effectively deformation and clamping stagnation.
- computer simulation /
- dynamics analysis /
- error analysis /
- rescue robot

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参考文献(14)

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