The computer modeling and analysis of complex dynamic structures of robotics from composite materials

Abstract

The methods of designing and modeling dynamic stands from a composite material are considered. One of the complex elements of the stands is the elements that ensure the dynamic behavior of the channels of the stand: bearing supports, gear rims, gearboxes, motors, servo drives, etc. Approximation of these elements in numerical methods for calculating and studying dynamic structures (finite element method) is a difficult task. Direct approximation of these elements does not satisfy the adequacy. Various approaches are used to adequately approximate such elements. In this paper, a methodology is proposed that consists in determining the rigidity parameters of bearing supports, gear rims, gearboxes and motors. In the future, these elements are replaced by rod systems corresponding to the replaced elements in terms of stiffness parameters. The effectiveness of the proposed method is confirmed by a comparison with of available experimental methods. The shell structures and stands were modeled in ANSYS modeling module. The considered methods for designing stands can be applied to robotic systems, weaving machines and dynamic systems for various purposes, since they contain all the elements inherent in the considered stand. The finite element approximation of the stand was carried out by elements of various types.