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

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

1.
河海大学机电工程学院, 江苏常州 213022

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

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- 文章访问数: 195
- HTML全文浏览量: 42
- PDF下载量: 6
- 被引次数: 0
出版历程
- 收稿日期: 2015-05-08
- 刊出日期: 2017-01-05

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

1.
School of Mechanical & Electrical Engineering, Hohai University, Jiangsu Changzhou 213022, China

摘要

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。
- 机器人 /
- 脚底形状 /
- 沉陷 /
- 任意拉格朗日-欧拉方法 /
- 挤土效应 /
- 主应力拱 /
- 主应力偏转
Abstract: Two dimensional finite element models were established via ABAQUS software in this paper. In view of dynamic problems involving large deformation in sinking, the arbitrary Lagrangian-Eulerian (ALE) method was used to describe the interaction between foot and soil, and the traced points were created to record the trajectories of soil particles. The radial and vertical displacement of traced points and the soil's density field distribution at different sinking depth were extracted to study the soil squeezing effect under the sole of foot. By analyzing the variation of the distribution of principal stress vectors, radial and vertical stress distribution, soil arching effect caused by the third principal stress was found under the vertical plane strain condition. Due to the deflection of the principal stress vectors, the third principal stresses overlap respectively in the radial and vertical directions, leading to the peaking values of the radical and vertical stress in the central axis respectively of the radical and vertical stress in the central axis.
- robots /
- plantar shape /
- sinking /
- Arbitrary Lagrangian-Eulerian method /
- soil squeezing effect /
- principal stress arching /
- deflection of principal stress

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参考文献(15)

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