为了保证柔性加载时脆性结构件表面受力均匀,借助有限元方法对起缓冲作用的超弹性材料的受载进行仿真,分析并优化了弹性材料和脆性结构件接触应力的均匀程度.根据超弹性缓冲垫受压时的特性,建立了能够反映接触应力均匀性的评估模型;通过对缓冲基本模型仿真结果的分析,提出了建立减小摩擦因数、改变缓冲垫结构这两种优化模型;针对有限元仿真结果,进行了超弹性缓冲垫加载脆性结构件的试验,对有限元模型的有效性进行了验证.结果表明:所建立的有限元模型能够较准确地描述机器人加载脆性结构件的实际情况;两种优化模型均可有效提高脆性件表面受力的均匀性;中心打Φ20mm孔的优化模型对脆性结构件的等效覆盖率为77.44％,相比基本模型,提升了15％的均匀性能.本研究结果为后续超弹性缓冲垫的设计与优化提供了理论依据.%In order to ensure uniform stress on the surface of friable structure while flexible loading,we use finite element method to simulate the load of hyperelastic material,analyzing and optimizing the uniformity of contact stress on the friable structure.According to the characteristics of hyperelastic cushion under pressure,a model for evaluating the uniformity of contact stress is established.Based on the analysis of simulation results of the basic model,two optimization models are proposed to reduce the friction factor and to change the cushion structure;Aiming at the results of finite element simulation,an experiment of flexible load is carried out to verify the validity of the finite element model.The results show that the finite element model can,too some extent,accurately describe the actual situation of robot loading on the friable structure,and the two optimization models can effectively improve the uniformity of the stress on the surface of the tile;Compared with the basic model,the equivalent coverage ratio of the optimized model with 20mm hole is 77.44％,which improves the uniformity by 15％.This result will provide a theoretical basis for the design and optimization of hyperelastic cushion in the future.
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