机器人2025，Vol.47Issue(6)：774-786,13.DOI:10.13973/j.cnki.robot.250053
旋翼式星表探测六杆张拉整体机器人非线性力学建模及碰撞仿真分析
Nonlinear Mechanical Modeling and Collision Simulation Analysis on Rotor Six-bar Tensegrity Robot for Star Catalog Detection
摘要
Abstract
Aiming at the problem of propeller damage caused by collision of rotor-type robots in star catalog environment,an anti-collision rotor-type robot configuration based on six-bar tensegrity structure is proposed.By constructing the node matrix,connection matrix and vector matrix,the mathematical model of the six-bar tensegrity structure is established,and the mechanical analysis is carried out by using the solution method based on the equilibrium matrix and nonlinear finite element theory.The simplified 3D model is meshed by HyperMesh software,and the 3D mesh model is imported into ABAQUS software to carry out collision simulation under different drop and flight speeds.The anti-collision performance is verified by the evaluation criteria of structural interference and deformation degree.The simulation results show that when the robot falls,it contacts the surface of Titan with a closed triangular surface,and can withstand a maximum drop height of up to 23.7 m.Design of its propeller ensures protection from damage during this process.In the case of a collision against the rotor bar,the structure can withstand the impact velocity of 7 m/s.Finally,the effectiveness of the proposed configuration is further verified by building a prototype and performing static and dynamic load tests.In summary,the anti-collision capability of the rotor-type robot in this study covers unexpected situations that may be encountered during normal landing operations,providing an innovative technical solution for robot safety and reliability in star catalog detection.关键词
星表探测/旋翼式机器人/张拉整体机器人/碰撞分析Key words
star catalog detection/rotor type robot/tensegrity robot/collision analysis引用本文复制引用
刘瑞伟,沈轩著,陈心玥,王腾飞,肖冰瀛,梁裕坚,苏满佳..旋翼式星表探测六杆张拉整体机器人非线性力学建模及碰撞仿真分析[J].机器人,2025,47(6):774-786,13.基金项目
国家自然科学基金(52305014,52475008,52105011). （52305014,52475008,52105011）
