可抛投移动机器人跌落分析及电池变形优化

Drop Analysis and Deformation Optimization of Battery for Throwable Mobile Robot

中文关键词: 抛投机器人  抗摔设计  跌落仿真  Ls-Dyna  电池防护

英文关键词: throwable robot  anti-drop design  drop simulation  Ls-Dyna  battery protection

中文摘要:

      目的 对可抛投移动机器人进行跌落仿真并优化电池保护结构。方法 为了承受至少跌落6 m的强大冲击力，选取EVA及碳纤维材料对抛投机器人进行抗摔设计。基于Ls-Dyna对抛投机器人的3种工况进行跌落仿真，探究机器人各部件的受力情况以及损伤的原因。同时着重对机器人的电池及其箱体结构进行跌落仿真，分析电池失效的原因，并提出整改方案。结果 表明了整体抗摔设计的有效性，没有超出设计材料的屈服点。同时，得出了电池失效的根本原因是电池材质较软以及保护结构包络面积不够，优化后的机器人的电池变形量减小了60%，电池失效得到了根本性改善。结论 经过仿真和实际抛投验证，所提优化方法可用于指导抛投和抗摔类机器人的抗摔设计。

英文摘要:

      The work aims to simulate the drop of a throwable mobile robot and optimize the battery protection structure. In order to withstand a strong impact force of at least 6 meters, EVA and carbon fiber materials were selected for anti drop design of the throwable robot. Based on Ls-Dyna, a drop simulation was conducted on three working conditions of the throwable robot, exploring the force conditions of each component of the robot and the reasons for damage. At the same time, a drop simulation was conducted on the robot battery and its box structure to analyze the reasons for battery failure and propose improvement plans. This indicated the effectiveness of the overall anti drop design and did not exceed the yield point of the designed material. At the same time, it was found that the root cause of battery failure was the soft material of the battery and the insufficient envelope area of the protection structure. The optimized robot battery deformation was reduced by 60%, and the battery failure was fundamentally improved. After simulation and actual throwing verification, the proposed optimization method can be used to guide the anti-drop design of throwable and anti-drop robots.