發(fā)布時(shí)間：2018-02-02 13:01

  本文關(guān)鍵詞： 柔性充氣臂 褶皺關(guān)節(jié) 關(guān)節(jié)轉(zhuǎn)動(dòng) 驅(qū)動(dòng)力矩 轉(zhuǎn)動(dòng)模擬 雙軸試驗(yàn)　出處：《上海交通大學(xué)學(xué)報(bào)》2016年12期 　論文類型：期刊論文

【摘要】：為減小充氣臂轉(zhuǎn)動(dòng)驅(qū)動(dòng)力矩,設(shè)計(jì)了類似宇航服關(guān)節(jié)的帶有褶皺構(gòu)造的充氣膜關(guān)節(jié)及繩驅(qū)動(dòng)轉(zhuǎn)動(dòng)裝置.進(jìn)行了充氣臂柔性PVC織物膜材的雙軸拉伸和剪切試驗(yàn),基于正交異性假設(shè)計(jì)算得到了適宜充氣臂雙向張力和褶皺狀態(tài)下膜材的彈性常數(shù).建立了充氣臂結(jié)構(gòu)的有限元模型并進(jìn)行了轉(zhuǎn)動(dòng)數(shù)值模擬和參數(shù)分析,將模擬結(jié)果與無褶皺構(gòu)造的圓柱形關(guān)節(jié)理論分析結(jié)果進(jìn)行了對(duì)比,表明褶皺構(gòu)造關(guān)節(jié)的彎曲驅(qū)動(dòng)力矩降低很多,實(shí)現(xiàn)了低驅(qū)動(dòng)力矩的設(shè)計(jì)目標(biāo).設(shè)計(jì)和制作了充氣臂樣機(jī)并開展了試驗(yàn)研究,驗(yàn)證了充氣臂轉(zhuǎn)動(dòng)數(shù)值模擬的準(zhǔn)確性.
[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.
【作者單位】： 上海交通大學(xué)空間結(jié)構(gòu)研究中心;
【基金】：國家自然科學(xué)基金(11272207,51278299)資助項(xiàng)目
【分類號(hào)】：TP241
【正文快照】： 機(jī)器人技術(shù)是20世紀(jì)60年代中期興起的一項(xiàng)高新技術(shù),而機(jī)械臂作為一種比較復(fù)雜又很實(shí)用的機(jī)器人,是各學(xué)科高度融合交叉的結(jié)果,包括機(jī)械學(xué)、人類學(xué)、計(jì)算機(jī)科學(xué)、控制科學(xué)等,并被廣泛應(yīng)用于工業(yè)、醫(yī)療、家用等領(lǐng)域.其中,關(guān)節(jié)機(jī)械臂是比較常見和實(shí)用的,具有靈活、載荷大、操控精

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本文編號(hào)：1484569