Numerical analysis of UGV mounted manipulator aeroelasticity and joint load

초록

This study investigates the aeroelastic behavior and joint reaction loads of a three-degree-of-freedom (3-DOF) manipulator subjected to strong wind conditions. The aerodynamic coefficients, structural modes, and reaction forces and moments at the robot joints were calculated and analyzed through fluid-structure interaction (FSI) simulations. The mean magnitudes of the drag and moment coefficients showed a slight decrease with increasing wind speed due to Reynolds number effects, while their fluctuation levels grew with wind intensity. Maximum deformation and stress were observed on Link-3, increasing proportionally with the square of the wind speed. The von Mises stress remained nearly constant, showing minimal sensitivity to changes in material properties. The dominant frequencies of the joint reaction forces and moments, along with structural variations were comparable to but slightly lower than the first structural mode frequency and the frequency bands were broadened with a higher modulus of elasticity regardless of the link number. Furthermore, Payload mass minimally affected aerodynamic stress and strain but led to a slight reduction in vibration frequency, approaching the corresponding loaded modal frequencies. These results underscore that joint reaction forces and moments behave as significant disturbance torques, and their periodic characteristics provide essential information for designing robust control strategies for manipulators.

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