摘要
机器人底盘作为导盲机器人的基础部件,需要保证其稳定性和可靠性。利用SolidWorks建立底盘结构三维模型,然后导入ANSYS Workbench中对底盘模型进行静力学分析、模态分析和谐响应分析。静力分析结果表明底盘受到的最大应力为37.813 MPa,计算得到安全系数为5.4,底盘结构的强度满足要求;模态分析得出底盘结构的各阶固有频率和振型,根据底盘结构的固有频率选择符合要求的电机,避免底盘在驱动电机的激振作用下发生共振;谐响应分析得到减震支架发生共振的频率、共振幅值,为机器人底盘结构的进一步优化设计提供理论依据。
As the basic component of the guide robot,the stability and reliability of the robot chassis need to be ensured.The three-dimensional model of the chassis structure was built by using SolidWorks,then it was imported into ANSYS Workbench to carry out static analysis,modal analysis and harmonic response analysis.The results of static analysis show that the maximum stress of chassis is 37.813 MPa,and the safety factor is 5.4.The strength of chassis structure meets the requirements.The natural frequencies and modes of chassis structure were obtained by modal analysis.According to the natural frequencies of chassis structure,the motor met the requirements was selected to avoid chassis resonance under the excitation of driving motor.The resonance frequency and amplitude of the frame provide a theoretical basis for the further optimization design of the chassis structure of the robot.
作者
朱国柱
郑佳鹏
林佳翰
伍冯洁
ZHU Guozhu;ZHENG Jiapeng;LIN Jiahan;WU Fengjie(College of Mechanical and Electrical Engineering,Guangzhou University,Guangzhou Guangdong 510006,China;College of Physics and Electronic Engineering,Guangzhou University,Guangzhou Guangdong 510006,China;Experimental Center of Guangzhou University,Guangzhou Guangdong 510006,China)
出处
《机床与液压》
北大核心
2020年第10期104-108,共5页
Machine Tool & Hydraulics
基金
广东大学生创新创业教育研究中心项目(2018A083421)
教育部产学合作协同育人项目(201901103012)
2018年广州大学大学生创新训练项目。
关键词
机器人底盘
静力学分析
模态分析
谐响应分析
Robot chassis
Static analysis
Modal analysis
Harmonic response analysis
