Dynamic Analysis And Structural Optimization Of Typical Working Conditions Of Limbs Of Sixlimb Crawler Vehicle

Facing the strategic needs of national scientific research,researching mobile scientific research vehicles that adapt to the complex terrain of Antarctica is of great significance for realizing the inland scientific research of the Antarctic ice sheet.This article takes a limb-leg crawler foot scientific research vehicle as the research object.The vehicle is composed of a fixed platform,six groups of limb parts arranged on the fixed platform and the crawler foot part at the end.When designing the limb parts,not only the influence of the weight of the foot of the foot of the limbs on the structural strength and load deformation of the limb parts,but also the influence of wind resistance on the limb parts and even the power consumption of the entire vehicle under extreme environments must be considered.In this regard,this paper carried out the theory and simulation of limb and leg dynamics for this six-legged crawler foot vehicle,and the study of the stress and deformation of the limbs under various working conditions.On this basis,the multi-objective of the limbs was completed.Optimize the design.The main research is as follows:First,the configuration of the limbs of the six-leg crawler foot vehicle is analyzed,and the dynamic model of the single limb lifting process of the scientific research vehicle based on the Lagrangian function is established,and the upper and lower legs,Based on the equations of the center of mass position,speed,kinetic energy and potential energy of the crawler foot,a mathematical model of the driving force of the joints of the upper and lower limbs is established to determine the required driving force function of the first and second level electric push rods when the limbs are lifted at the limit.Secondly,establish the dynamic model of the six-legged crawler foot vehicle under four typical working conditions such as crossing ice cracks,climbing steps,30° side leg lift and extreme leg lift,and conduct dynamic simulation to analyze the articulation under each working condition.Point force changes and maximum force conditions reveal the influence of changes in the angular velocity and angular acceleration of the limbs and legs on the force of the articulated points of the limbs.Based on this,the movement of the limbs and caterpillar system under extreme leg lift conditions is studied.Characteristics,obtained the limit position of the track foot space movement,and provided a reference basis for the movement planning of the limbs.Study the strength numerical simulation of the upper and lower limbs of the main loadbearing components of the six-leg crawler foot vehicle under the above four typical working conditions,and obtain the stress and deformation distribution cloud diagrams of each component.It is found that the supporting limb stress is the largest in the step-climbing condition.The maximum displacement of the load reference point is in the 30° side-leg lift condition;and the upper and lower limbs have been completed for modal simulation and experimental comparative analysis,which provides a reference for the optimization of the limb structure.A multi-objective optimization design method for limb parts based on cooperative game is proposed.The multi-objective optimization problem of minimum limb deformation and minimum driving power consumption is converted into a game problem,and a game based on the integration of cooperative game theory and particle swarm algorithm is established.The particle swarm method seeks to find the optimal solution of the structural characteristic parameters of the limbs.Compared with the particle swarm algorithm,the results of the comparison with the particle swarm algorithm show that the deformation resistance per unit power consumption of the limb components is improved by 1.3 times after the optimization of this method.