摘要
在被动自适应履带机器人中,履带的张紧力是履带机器人稳定运行的重要参数之一。针对履带设计过程中多个设计参数对履带张紧力的影响,建立了履带负重轮、主动轮和诱导轮处张紧力数学模型,得到了多参数与张紧力之间的理论计算公式;通过在Recurdyn中建立履带模型得到的张紧力与理论公式相对比,验证了公式的可行性;采用正交实验法研究了公式中多参数对张紧力影响的显著性,得到了优化履带张紧力相对较优的结构参数。
In the passive self-adaptive crawler robot,the tensioning force of crawler is one of the important parameters for the stable operation of the crawler robot.In view of the influence of several design parameters on the crawler tensioning force in the crawler design process,a mathematical model of the tension force of the crawler wheel,the active wheel and the induction wheel was established,and the theoretical calculation formula between the multi-parameter and the tension force was obtained.The feasibility of the formula was verified by comparing the tension force of the tracked model in the Recurdyn and the tension force calculated by the theoretical formula.The effect of multi-parameters on the tension force in the formula was studied by the orthogonal experimental method,and the structural parameters of the optimized crawler tensioning force were obtained.
作者
王亚翔
张俊俊
WANG Yaxiang;ZhANG Junjun(Special Environment Robotics Laboratory of Sichuan Province, Southwest University of Scienceand Technology, Mianyang 621010, Sichuan, China)
出处
《西南科技大学学报》
CAS
2018年第4期98-102,共5页
Journal of Southwest University of Science and Technology
基金
"十三五"国家核能开发科研项目([2016]1295)
关键词
自适应履带机器人
正交实验
显著性分析
参数优化
Self-adaptive crawler robot
Orthogonal experiment
Analysis of the significance
Parameter optimization
