作者：蒋冬清, 李三雁, 熊仁伟, 王宗玥, 秦琴

作者单位：成都锦城学院智能制造学院，四川 成都 611731

关键词：有限元分析;摩擦轮发射装置;瞬态动力学分析;固有频率

摘要：

为提高步兵机器人稳定性和可靠性，以摩擦轮发射装置为主要研究对象，通过UG三维实体建模，利用ANSYS对摩擦轮发射装置进行模态分析、谐响应分析、瞬态分析和疲劳分析。通过模态分析得到前6阶振型图；通过谐响应分析验证所得固有频率数值的准确性；通过瞬态分析得到结构在一定工作条件下的应力应变分布，以及在其他工作条件不变时摩擦系数对结构受力的影响。仿真结果表明，摩擦轮发射装置的固有频率接近于5阶模态振型频率，并利用谐响应分析进一步验证固有频率数值的准确性和可靠性；通过对摩擦轮发射装置进行瞬态力学分析，得到瞬态应变及变形云图，在此基础上分析出不同摩擦系数对摩擦轮所受应力的影响。结合疲劳分析得到摩擦轮发射装置的疲劳寿命云图、安全系数云图，分析得到摩擦轮发射装置在受变载荷的受力状态，可进一步为摩擦轮发射装置使用的稳定性和可靠性提供理论支持。

Mechanical property analysis of friction wheel launcher of infantry robot for competition
JIANG Dongqing, LI Sanyan, XIONG Renwei, WANG Zongyue, QIN Qin
College of Mechanical Engineering, Jincheng College, Chengdu 611731, China
Abstract: In order to improve the stability and reliability of infantry robots, taking the friction wheel launcher as the main research object, through UG three-dimensional solid modeling, ANSYS is used to carry out modal analysis, harmonic response analysis, transient analysis and fatigue analysis of the friction wheel launcher. The first six vibration modes are obtained through modal analysis. The accuracy of the natural frequency is verified by harmonic response analysis. Through the transient analysis, the stress and strain distribution of the structure under certain working conditions and the influence of friction coefficient on the stress of the structure when other working conditions remain unchanged are obtained. The simulation results show that the natural frequency of the friction wheel launcher is close to the fifth order modal frequency, and the accuracy and reliability of the natural frequency are further verified by harmonic response analysis. Through the transient mechanical analysis of the friction wheel launcher, the transient strain and deformation nephogram are obtained. On this basis, the influence of different friction coefficient on the stress of friction wheel is obtained. Combined with the fatigue analysis, the fatigue life nephogram and safety factor nephogram of the friction wheel launcher are obtained, and the stress state of the friction wheel launcher under variable load is analyzed, it further provides theoretical support for the stability and reliability of the friction wheel launcher.
Keywords: finite element analysis;friction wheel launcher;transient dynamics analysis;natural frequency
2022, 48(11):126-132  收稿日期: 2022-06-12;收到修改稿日期: 2022-07-19
基金项目:
作者简介: 蒋冬清（1984-），女，广西桂林市人，副教授，硕士，主要从事智能控制和机器人结构研究
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