Abaqus 氣動軟體抓手機(jī)器人有限元仿真

Ⅰ. Freely beding

1. Set Work Directory

2. Import Part

3. Materials

• Paper

General > Density:
Density = 750 Kg/m3 → 750e-12 (Mg/mm3)

Mechanical > Elasticity> Elastic:
Young’s Modulus = 6.5 GPa → 6500 (MPa)
Poisson’s ratio = 0.2

• gripper-silicone

General > Density:
Density = 1050 Kg/m3 → 1050e-12 (Mg/mm3)

Mechanical > Hyperelastic > Uniaxial Test Data > Read from file > Yeoh model

Evaluate Material -> Coefficients

4. Section assignment

• Creat section

Solid silicone

Shell paper (圖中 material 分配錯(cuò)誤而報(bào)錯(cuò)，應(yīng)為 paper)

• Silicone part section assign
  
  

5. Creat surfaces and sections

Inner surface

Edge section for contact setting

Paper surface

6. Assemble and merge

Creat instance

Creat constraint (face to face)

Merge

7. Create inextensible layer

Creat skin

Paper section assignment

8. Creat step and load

Creat step-G and step-P

Creat boundary condiiton and loads (G and P)

9. Add contact interaction ★

Creat interaction properties

stiffness scale factor 可縮小來提高收斂性（但是結(jié)果好像區(qū)別不大）

Creat self-contact

Creat node(edge) to surface contact

Step-G contact

（實(shí)際計(jì)算時(shí)，step-G不收斂，壓縮該步，重力影響可是加到Step-P上進(jìn)行計(jì)算）

10. Mesh

Mesh control

Mesh seed (part and edge)

seed constraints 如圖設(shè)置可提高收斂性。

Mesh part

Element type (part and paper layer)

11. output setting

12. Creat job and submit

13. Results

• Creat XY data – ODB field output – U: Spatial displacement (U2 & U3) – Unique Nodal – Select the tip nodal – Plot

• Report – XY – Select data – Save

參考：

https://softroboticstoolkit.com/book/pneunets-modeling

Normal behavior：https://www.bilibili.com/video/BV12P4y1W7td?p=2 25:10
node(edge) to surface : https://www.bilibili.com/video/BV12P4y1W7td?p=4 29:00、56:10

Ⅱ. Blocking force

1. Part

導(dǎo)入長方體模型(10* 40 *50)

2. Material

Steel
楊氏模量：200000
泊松比：0.3

3. Setction assignment

賦予結(jié)構(gòu)材料特性，同時(shí)創(chuàng)建一個(gè)set，指向接觸邊線；

4. Assembly

加入Instance實(shí)例，并調(diào)整位置

5. Step and load

創(chuàng)建充氣分析步，打開大變形計(jì)算，設(shè)置步長等；
設(shè)置施加載荷的大小；
同時(shí)設(shè)置固定邊界條件：執(zhí)行器末端和長方體底部。

6. contact

在Ⅰ的基礎(chǔ)上，設(shè)置執(zhí)行器和長方體的面面接觸；

7. Mesh

對長方體進(jìn)行網(wǎng)格劃分

8. Output

Field output – CFORCE, Contact force

9. Job and submit

10. Results

• Creat XY data – ODB field output – CNORMF: CNF3 – Unique Nodal – Select the tip nodal – Plot

選擇輸出數(shù)據(jù)類型：

選擇Unique Nodal 才能選擇邊線

選擇邊線，然后Plot

或者

• Report – XY – Select data – Save

總結(jié)

以上是生活随笔為你收集整理的Abaqus 气动软体抓手机器人有限元仿真的全部內(nèi)容，希望文章能夠幫你解決所遇到的問題。

如果覺得生活随笔網(wǎng)站內(nèi)容還不錯(cuò)，歡迎將生活随笔推薦給好友。