树木涂白机器人行走装置的设计及仿真

Mobile device design and simulation experiment for robot of trees painting white

设计了一台树木自动涂白的新型机器人,采用轮腿式齿轮齿条升降越障的行走装置,实现了其在街道地形场所下的正常行驶。运用三维软件Solidworks对机器人进行三维建模和装配;推导出涂白机器人在常见街道地形特点下移动越障的动力学方程,为其运动的控制奠定了动力学基础;采用动力学仿真插件Motion进行仿真试验得出机器人在越障阶段的扭矩和功率曲线图。试验结果表明:机器人结构设计合理,能够顺利实现不同环境特点下的功能要求;在各个阶段中,扭矩的变化较为平稳,越障过程顺利,除在启动点会出现突变外,其余状态均为良好。研究结果对缩短移动机器人的研究开发周期、降低开发成本以及提高设计质量等具有重要意义。

A new robot for trees painting white is designed.The mobile device with lifting rack and pinion can realize the normal running in different places.The 3D model is built and interferential test of assembly in Solid-works environment is completed.Passing capabilities of painting white robot were analyzed in all kinds of cir-cumstances as common terrain of the streets and the dynamic equations are deduced.The dynamics basis for movement control was established later.The dynamic simulation of the robot system is also carried out by mo-tion virtual prototype technology.According to torque and power curve of robot simulating in obstacle negotia-tion stage,the robot structure design is proved to be reasonable,it can successfully serve the environment of the functional characteristics requirements.In most stages,the change in the torque is relatively stable.Surmoun-ting process is satisfied,except for start mutations.This method adopted in our test can shorten the develop-ment of mobile robot research,improve the robot quality and reduce the cost of product desig.