煤矿救援机器人可折展水弹轮式结构分析与优化

doi:10.3969/j.issn.1004-132X.2021.24.004

摘要/Abstract

摘要： 设计了一种适用于煤矿井下救援机器人的水弹轮式结构，以提高救援机器人在复杂条件下的工作可靠性和非结构化环境下的适应性。提出以平行四边形为基本单元的水弹轮式结构径向运动学建模方法，研究不同基本单元水弹轮式结构的承载特性。基于连续介质损伤力学理论对轴向压缩载荷下平行四边形水弹轮式结构的疲劳寿命进行预测，以折展比为约束条件，以极限承载力、疲劳寿命作为评价函数对关键设计参数进行多目标优化。研究结果表明，在质量相同情况下平行四边形水弹轮式结构具有较好的极限承载力，优化后平行四边形水弹轮折展比、极限承载力、裂纹萌生疲劳寿命分别提高15.8％、40.7％、55.4％，水弹轮式结构的工作可靠性得到提高，实际疲劳寿命破坏区域与理论计算结果一致，试验结果验证了分析过程的准确性和优化方法的有效性。

关键词: 煤矿救援机器人, 折纸, 可变形轮, 运动学分析, 多目标优化

Abstract: A waterbomb wheel structure used in the coal mines rescue robots was designed to improve working reliability under complex conditions and adaptability to unstructured environments. A structural radial kinematics modeling method of the waterbomb wheel structure with the parallelogram as basic units was proposed to study the influences of different basic units on the waterbomb wheel structure's load-bearing characteristics. Based on the theory of continuum damage mechanics, the fatigue life of the parallelogram waterbomb wheel structures under axial compression loads was predicted. The design parameters of the waterbomb wheel were optimized by multi-objective optimization using the folding ratio as restrictions, with ultimate bearing capacity and fatigue life as evaluation functions. The research results show that the parallelogram waterbomb wheel has a better ultimate bearing capacity under the same mass. The optimized waterbomb wheel's folding ratio, the ultimate bearing capacity, the fatigue life prediction value has increased by 15.8%, 40.7%, 55.4% respectively, the working reliability of the waterbomb wheel structure is improved, and the actual fatigue life failure area is consistent with the theoretical calculation result. The experimental results verify the accuracy of the analysis processes and the effectiveness of the optimization method.

Key words: mine rescue robot, origami, transformable wheel, kinematics analysis, multi-objective optimization

中图分类号:

TH242

尚祖恩, 赵丽娟, 刘雄豪, 金鑫. 煤矿救援机器人可折展水弹轮式结构分析与优化[J]. 中国机械工程, 2021, 32(24): 2924-2933.

SHANG Zuen, ZHAO Lijuan, LIU Xionghao, JIN Xin. Deployable Waterbomb Wheel Structure Analysis and Optimization of Mine Rescue Robots[J]. China Mechanical Engineering, 2021, 32(24): 2924-2933.

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链接本文: http://www.cmemo.org.cn/CN/10.3969/j.issn.1004-132X.2021.24.004

http://www.cmemo.org.cn/CN/Y2021/V32/I24/2924

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