Honeycomb core structure design method for spherical robot cushioning shell

Abstract

The invention discloses a honeycomb core structure design method of a spherical robot cushioning shell. Firstly, a tangent icosahedron of a target sphere is determined and each side of the icosahedronis equally divided. Then, the first regular hexagon is drawn around the center of the equilateral triangle on the icosahedron, the segmentation law that expands to the periphery in turn, the isosceles triangles are divided into several small isosceles triangles, and six small isosceles triangles are combined to form a regular hexagon, which is projected onto the icosahedral inner tangent sphere,so as to complete the transformation from two-dimensional honeycomb core structure design to three-dimensional honeycomb core structure design. The invention increases the number of geometrical patterns on the spherical surface, the geometrical shapes have no voids and no overlaps, and most of the geometrical shapes are hexagonal shapes which can be well maintained, thus solving the problem of distortion of the spherical structure. The number of segmentation can also be determined according to the actual needs, so that the size of hexagon and the number of cells are not limited by the model.

Description

technical field [0001] The invention relates to the technical field of cushioning and energy absorption for robots, in particular to a design method for a honeycomb core layer structure of a spherical robot's cushioning shell. Background technique [0002] When the spherical robot completes the task of throwing or overcoming obstacles, it not only needs the robot to have the characteristics of light weight and small size, but also needs to ensure that the shell of the spherical robot has good cushioning and energy absorption characteristics to ensure the smooth buffering and post-operation of the robot. Therefore, there are strict requirements on the compactness and lightness of the buffer shell of the robot. [0003] In order to meet the requirements, the spherical honeycomb sandwich structure of the buffer shell needs to be specially designed. [0004] According to inventor's understanding, existing design method comprises: [0005] (1) Based on the design method of the ...

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Problems solved by technology

[0005] (1) Based on the design method of the traditional fullerene C720 configuration, the honeycomb sandwich structure designed by this method has two defects: first, it is not a regular regular sphere; second, only 115 hexagons are distributed on its surface And 12 pentagons, the number of regular geometric shapes is small, which cannot meet the requirement of a specific number of cells in the three-dimensional spherical honeycomb core layer;

[0007] (3) The general triangle formation method, which can increase the number of hexagonal geometric figures to a certain extent; however, the closer to the equator, the hexagonal shape cannot be well maintained, resulting in serious shape distortion, and at There are only 6 line segments in the parallel direction to replace the circle, so the hexagonal and spherical cross-section structures in the top view are quite different, which limits the application of the flat honeycomb core structure in the curved surface buffer structure

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