履带式机器人承重减震装置的优化设计

Research on Design Optimization of Load-bearing Antivibration Device of Tracked Robot

为了提高履带式机器人在崎岖地面行驶时的平稳性和机动性,设计了一种承重减震装置,该装置对小幅高频震动和大幅低频震动都有明显的缓冲吸收效果。通过在Adams软件中的运动学和动力学仿真,以装置上的弹簧最小弹力值为优化目标,对该装置进行了优化设计,提升了该装置的使用性能;为了提高相关设计工作的效率,以AutoCAD2010为依托平台,利用ObjectARX2010对该装置所在子系统进行了二次开发,采用模块化、参数化、智能化思想,开发出人机交互友好、参数化驱动图形的相关图形生成库,既提高了设计效率,又便于将不同参数下的承重减震装置图形进行比较,有助于设计者把握设计质量。

A kind of device which can bear loads and vibration is designed to improve the stability and flexibility of the performance of tracked robot on rugged ground. This device can effectively cushion and absorb low amplitude high-frequency vibration and high amplitude low--frequency vibration. The performance of the device is improved by kinematics and dynamics simulation using Adams, putting minimum elastic force of the spring as the target of optimization. Using AutoCAD2010 as the platform, a secondary development of the subsystem of the set is carried out by the application of ObjectARX2010 to improve the efficiency of the design. A parameter-driven generation lihrary of related graphics with good HCI is developed under the guidance of modularization, parameterization and intellectualization. It contributes to the improvement of design efficiency and the compare of the device graphics under different parameters, which helps the designer guarantee the quality of the design.