基于非Hertz接触理论的连续切换轮辊子变形分析
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摘要
介绍了一种目前广泛应用于移动机器人领域的连续切换全向轮。通过分析辊子的几何模型,建立辊子轮廓面的参数方程,并提出了两相邻辊子间间隙应满足的条件。根据全向轮与地面的接触条件,提出了基于非Hertz(赫兹)接触理论分析轮缘处辊子与地面接触的变形情况,并将结果与ANSYS有限元方法对辊子接触变形进行对比验证。为此类连续切换轮的结构分析及减小振动提供了理论基础。
Introduced a row alternate wheel which is current widely used in the mobile robot field. Parametrizations equation of the roll surface were worked out by analyzing geometric model of roll and propose to the condition in adjacent rollers clearance. According to the wheels and ground contract condition,present a way to analyzed the deformation of wheel rim roll and ground contact condition based on non-Hertz contact theory,and the contact deformation was simulated by using ANSYS software comparison with the calculation results. Provided method basis for row alternate wheel applications.
Introduced a row alternate wheel which is current widely used in the mobile robot field. Parametrizations equation of the roll surface were worked out by analyzing geometric model of roll and propose to the condition in adjacent rollers clearance. According to the wheels and ground contract condition,present a way to analyzed the deformation of wheel rim roll and ground contact condition based on non-Hertz contact theory,and the contact deformation was simulated by using ANSYS software comparison with the calculation results. Provided method basis for row alternate wheel applications.
引文
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[2]王班,周卫华,郭吉丰,等.一种圆弧锥棍的全向轮结构及其分析[J].中国机械工程,2013,24(15):2015-2019.
[3]SALIH J E M,RIZON M,YAACOB S,et al.Designing Ommidirectional Mobile Robot with Mecanum Wheel[J].American Journal of Applied Sciences,2006,3(5):1831-1835.
[4]BYUN K S,KIM S J,SONG J B.Design of Continuous Alternate Wheels for Omnidirectional Mobile Robots.Proceedings of the 2001 IEEE International Conference on Robotics and Automation[C].New York:IEEE,2001:767-772.
[5]FERRIER L,RAUCENT B,CAMPION G.Design of Omnidirectional Robot Wheels.Proceedings of the 2001 IEEE International Conference on Robotics and Automation[C].New York:IEEE,1996:3664-3670.
[6]陈俊,周建军.运用曲率参数化的全向轮滚子廓形设计[J].现代制造工程,2012(10):90-94.
[7]周卫华,王班,黄善均,等.单排连续切换全向轮移动机器人的布局方式与运动的稳定性分析[J].中国机械工程,2014,25(7):888-894.
[8]刘静,邵毅敏,秦晓猛,等.基于非理想Hertz线接触特性的圆柱滚子轴承局部故障动力学建模[J].机械工程学报,2014,50(1):91-97.
[9]罗继伟,罗天宇.滚动轴承分析计算与应用[M].北京:机械工业出版社,2009.
[10]钱伟长,叶开源.弹性力学[M].北京:科学出版社,1980.