林间步行机器人脚凸轮减振系统研究

Study on the cam vibration system of forestry walking robot

介绍了林间步行机器人的机构原理和机器人脚的凸轮减振系统和凸轮轮廓曲线的求解方法。在使用凸轮减震技术的基础上,运用了凸轮补偿平行四边形连杆机构弹性机械足垂直方向的动载荷和振幅,用传递函数方法建立了动态系统模型。输入一个与平行四边形机构方向垂直的动载荷波形,通过分析这个动载荷波形判断平行四边形机构垂直方向的动载荷系统所需的减震特征参数,同时,减震特征参数也可以作为减震控制技术的评估参数。最后分析了震动脉冲序列对系统性能的影响。

This paper presents the mechanism principle of the forestry walking robot, the damping system of a flexible robot and the method to solve the cam profile curve. On the basis of cam damping technology, we use cam to compensate vertical dynamic load of the flexibility machine foot of the parallelogram mechanism and the amplitude and use the transfer function to set up the dynamic system model. And we input a dynamic loading wave shape that is vertical to the parallelogram mechanism. By analyzing on the dynamic loading wave shape, we get the characteristic parameters for damping which the vertical dynamic load needs. Meanwhile, the characteristic parameters for damping may be the evaluation parameter of the damping control technology. At last, this paper analyzes the impact on system performance from the pulse sequence of vibration.