Dynamic response and damage assessment of the GFRP spherical shell of a spherical robot under low velocity impact

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Journal of Vibration and Shock ›› 2020, Vol. 39 ›› Issue (22) : 198-206.

MA Long,SUN Hanxu,LAN Xiaojuan,WANG Zhiqiang

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Abstract

The low velocity impact on a spherical robot during its work can pose a major threat to its internal devices and operational accuracy.Aiming at the possible large deformation and dynamic loading beared by the glass fiber reinforced polymer (GFRP) thin-walled spherical shell structure of the spherical robot, the low velocity impact damage of the GFRP spherical shell was studied by experiments and numerical simulations.The dynamic response and residual bearing capacity of the shell were obtained by low velocity impact tests and quasi-static compression tests with different impact velocities.A progressive damage simulation model of the composite spherical shell for demonstrating the expounded stress distribution, structural deformation mode and energy dissipation mechanism under impact was established based on the Hashin criterion.The results reproduce the deformation and penetration processes of the spherical shell of the spherical robot in harsh environment, and its critical impact velocity range is presented.It is benefitial to the development of high-performance spherical robots and the realization of accurate control.

Key words

spherical robot / glass fiber reinforced polymer(GFRP) / spherical shell structure / progressive damage / dynamic response

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MA Long,SUN Hanxu,LAN Xiaojuan,WANG Zhiqiang. Dynamic response and damage assessment of the GFRP spherical shell of a spherical robot under low velocity impact[J]. Journal of Vibration and Shock, 2020, 39(22): 198-206

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