基于断裂行为的水下机器人抗压疲劳损伤测试

摘要

underwater robot is prone to fracture under large-depth seawater pressure.To improve the compressive strength of the robot, the compression resistance fatigue damage test method for underwater robot based on the fracture behavior is proposed. Through analysis on the overall structure of underwater robot compression resistance fatigue damage system on CAD/CAM platform, and establishment of underwater robot stress parametric estimation model,underwater robot mechanical load dynamicsequation was built.Analysis on the dynamic estimation andparameter reliability of underwater robot compression resistance fatigue is carried out through the fracture behavior estimation model.The mechanics flow field stress model of underwater robot under large-depth liquid medium environment is built to realize underwater robot compression resistance optimization design and to delay robot's fracture bea-ver.The simulation results show that the mechanical structure stress field analysis and compression resistance fatigue damage test of the underwater robots by using this model can effectively improve the strength of the underwater robot,increase the underwater work-ing depth of the underwater robot.The underwater robot has relatively better anti-fatigue damage property.%水下机器人在受到大深度海水压力时容易产生断裂,为了提高机器人的抗压强度,提出一种基于断裂行为的水下机器人抗压疲劳损伤测试方法.在CAD/CAM平台上进行水下机器人抗压疲劳损伤系统的总体结构分析,构造水下机器人受力参量的估计模型,建立水下机器人机械荷载力学方程,采用断裂行为评估模型进行水下机器人抗压疲劳的力学估计和参量可靠性分析,在大深度的液态介质环境下建立水下机器人的机械流场应力模型,实现水下机器人抗压优化设计,延迟机器人的断裂行为.仿真结果表明,采用该模型进行水下机器人的机械结构应力场分析和抗压疲劳损伤测试,能有效提高水下机器人强度,增大水下机器人工作海深,抗疲劳损伤性能较好.