抛投式机器人高过载弹射泡沫塑料的共振吸能特性

姜涛; 王建中; 施家栋

doi:10.11883/1001-1455(2014)01-0120-05

抛投式机器人高过载弹射泡沫塑料的共振吸能特性

doi: 10.11883/1001-1455(2014)01-0120-05

北京理工大学爆炸科学与技术国家重点实验室，北京 100081

基金项目: 国防科工局基础科研项目（B2220110013）；北京理工大学研究生科技创新活动专项计划项目（2012CX10006）

详细信息

作者简介:
姜涛(1984—), 男, 博士研究生

通讯作者:
Jiang Tao, eli_jiang@126.com

中图分类号: O381; TJ99
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- 被引次数: 0
出版历程
- 收稿日期: 2012-08-20
- 修回日期: 2012-12-26
- 刊出日期: 2014-01-25

Resonance and energy-absorption capability of polyurethane foam in high-shock launching for scout-robot

State Key Laboratory of Explosion Science and Technology, Beijing Institute of Technology, Beijing 100081, China

摘要

摘要: 针对抛投式机器人弹射过程中存在的高过载问题，使用缓冲材料对机器人进行减过载处理。讨论了缓冲材料在高过载情况下的吸能特性，根据抛投式机器人缓冲保护壳的结构和缓冲材料的性质，建立了单自由度支座激励系统数学模型，并对其系统固有频率和放大系数进行了分析。利用弹射器内弹道加速度测量系统测量了弹射器的激励曲线和机器人在缓冲材料作用下的响应。实验结果表明，当缓冲系统的固有频率与弹射器的激励频率接近时，系统产生共振，机器人所受过载增加。通过调整缓冲系统的参数，改变其固有频率，使系统放大系数小于1，避免产生共振。
- 爆炸力学 /
- 吸能特性 /
- 单自由度支座激励系统 /
- 泡沫塑料 /
- 机器人 /
- 弹射器 /
- 缓冲 /
- 高过载
Abstract: For solving the high-overload problem existing during launching the scout-robot, the polyurethane foam was used as cushion material to reduce the overloads endured by the scout-robot.The energy-absorption capability of the polyurethane foam in the high-shock launching was discussed.Based on the structure of the robot protection shell and the properties of the cushion material, a mathematical model was established for the base-excited system with single degree of freedom.And the natural frequency of this system was analyzed as well as its amplification coefficient.An interior ballistics measurement system was developed to measure the acceleration curves of the scout-robot with and without cushion.The experimental results show that the system can produce resonance to make its acceleration increase when the natural frequency of the system is close to the excitation frequency of the launching device.And the natural frequency of the cushion system can be changed by adjusting the system parameters to reduce the amplification coefficient to less than 1and thus the cushion system can avoid resonance.
- mechanics of explosion /
- energy-absorption capability /
- base-excited system with single degree of freedom /
- polyurethane foam /
- robot /
- launching device /
- cushion /
- high overload

HTML全文

图 1 缓冲保护结构示意图

Figure 1. Schematic of a shock-absorbing cushion structure

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图 2 单自由度支座激励系统模型

Figure 2. Amodel for base-excited system with single degree of freedom

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图 3 内弹道测量系统

Figure 3. Interior ballistics measurement system

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图 4 机器人保护壳和缓冲材料

Figure 4. Robot protection shell and cushion

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图 5 无缓冲时机器人承受过载曲线

Figure 5. Acceleration curve of launching without cushion

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图 6 不同厚度缓冲材料下机器人的加速度响应

Figure 6. Acceleration response of scout-robot in the cushion materials with different thicknesses

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表 1 抛投机器人缓冲系统实验数据

Table 1. Experimental data of robot cushioning system

h/mm	f_n/Hz	a/g	β
0	55.50	380
50	58.12	1 200	3.150
70	49.07	480	1.260
90	43.31	410	1.070
110	30.33	314	0.826

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参考文献(9)

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