柔性充气操控臂转动行为数值模拟与试验

发布时间：2018-02-02 13:01

本文关键词： 柔性充气臂褶皱关节关节转动驱动力矩转动模拟双轴试验　出处：《上海交通大学学报》2016年12期 　论文类型：期刊论文

【摘要】：为减小充气臂转动驱动力矩,设计了类似宇航服关节的带有褶皱构造的充气膜关节及绳驱动转动装置.进行了充气臂柔性PVC织物膜材的双轴拉伸和剪切试验,基于正交异性假设计算得到了适宜充气臂双向张力和褶皱状态下膜材的弹性常数.建立了充气臂结构的有限元模型并进行了转动数值模拟和参数分析,将模拟结果与无褶皱构造的圆柱形关节理论分析结果进行了对比,表明褶皱构造关节的弯曲驱动力矩降低很多,实现了低驱动力矩的设计目标.设计和制作了充气臂样机并开展了试验研究,验证了充气臂转动数值模拟的准确性.
[Abstract]:In order to reduce the rotating driving moment of the inflatable arm. An inflatable membrane joint with fold structure and a rope driven rotation device are designed, and the biaxial tensile and shear tests of flexible PVC fabric membrane material with inflatable arm are carried out. Based on the orthotropic assumption, the elastic constants of the membrane material under the bidirectional tension and fold state are obtained. The finite element model of the inflatable arm structure is established, and the rotational numerical simulation and parameter analysis are carried out. The simulation results are compared with the theoretical analysis results of cylindrical joints without fold structure. The results show that the bending driving torque of folded joints is much lower. The design goal of low driving moment is realized, and the prototype of inflatable arm is designed and manufactured, and the experimental research is carried out to verify the accuracy of numerical simulation of inflatable arm rotation.
【作者单位】：上海交通大学空间结构研究中心;
【基金】：国家自然科学基金(11272207,51278299)资助项目
【分类号】：TP241
【正文快照】： 机器人技术是20世纪60年代中期兴起的一项高新技术,而机械臂作为一种比较复杂又很实用的机器人,是各学科高度融合交叉的结果,包括机械学、人类学、计算机科学、控制科学等,并被广泛应用于工业、医疗、家用等领域.其中,关节机械臂是比较常见和实用的,具有灵活、载荷大、操控精

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