机器人手臂球形关节交叉球面齿轮的静态、动态和高循环疲劳分析:有限元分析方法

José L. Serna-Landivar, Madelaine Violeta Risco Sernaqué, Ana Beatriz Rivas Moreano, William C. Algoner, Daniela M. Anticona-Valderrama, Walter Enrique Zúñiga Porras, Carlos Oliva Guevara
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引用次数: 0

摘要

交叉球形齿轮用于机械手臂假肢的关节,可实现 3 个自由度的移动。本文旨在通过有限元分析,评估采用 PEEK、AISI 304L 和 Ti-6Al-4V 三种不同材料的交叉球形齿轮在机械臂假肢中的设计。ANSYS 机械软件(2021 R1 版)用于进行静态分析,评估变形和应力,对固有频率和振动模式进行模态分析,以及进行高循环疲劳分析以确定抗疲劳性。静态分析结果表明,三种材料的最大应力位于相同区域,且应力值相似。不过,Ti-6Al-4V 和 ASI 304L 材料的安全系数高于 PEEK,达到 5.17。总之,利用有限元分析对交叉球形齿轮进行了数值验证,以便以后在实验水平上制造原型,并验证机械臂假肢交叉球形齿轮所获得的数值。
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Static, Dynamic, and High Cycle Fatigue Analysis of Crossed Spherical Gearing for Robotic Arm Ball Joint: A Finite Element Analysis Approach
Crossed spherical gearing is used in the joints of robotic arm prostheses and allows mobility in 3 degrees of freedom. This paper aims to evaluate the design of a cross-spherical gear with three different materials, PEEK, AISI 304L, and Ti-6Al-4V, for a robotic arm prosthesis by finite element analysis. ANSYS mechanical software (version 2021 R1) was used to perform the static analysis and evaluate the deformations and stresses, modal analysis of natural frequencies and vibration modes, and high cycle fatigue analysis to determine fatigue resistance. The results obtained in the static analysis show that the maximum stresses are in the same zones for the three materials and have similar values. However, the Ti-6Al-4V and ASI 304L materials have a higher safety factor than PEEK, with a value of 5.17. In conclusion, the crossed spherical gearing is numerically validated using the finite element analysis so that the prototype can be later manufactured at an experimental level, and the values obtained for the crossed spherical gearing of the robotic arm prosthesis can be verified.
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