新型万向驱动轮结构设计及仿真研究

Research on Structure Design and Simulation of New Universal Drive Wheel

针对爬壁行走机器人驱动轮装置存在结构单一,工作过程中不能很好地过滤掉因墙面凹凸不平产生的冲击载荷,进而影响机器人行走的稳定性等问题,设计了一种新型万向驱动轮装置。首先概述了该装置各结构部件的组成、特殊的结构设计及工作方式,并利用SOLIDWORKS进行了三维结构模型创建。其次对主动轮装置的核心受力部件-主动轮装置主轴进行了力学分析,并通过Workbench进行了静力结构仿真,验证了力学分析结果的正确性。最后通过ADAMS进行了运动学仿真,仿真结果表明该驱动轮装置能够有效过滤掉与路面之间产生的冲击载荷,可以保证行走机器人工作更加平稳,为后期新型行走机器人的研制及开发提供理论依据和创造条件。

Aiming at the single structure of the drive wheel device of the climbing robot, the impact load caused by the uneven wall surface can not be filtered well during the work. Then, a new kind of universal drive wheel device is designed to affect the stability of robot walking. Firstly, the composition, special structure design and working mode of the unit are summarized, and the three-dimensional structure model is created by SOLIDWORKS. Secondly, the mechanical analysis of the main shaft of the active wheel device, the core force component, is carried out, and the static structure simulation is carried out through workbench. The correctness of the results of mechanical analysis is verified. At last, the kinematics simulation is carried out by Adams. The simulation results show that the driving wheel device can effectively filter out the impact load between the road. It can guarantee the smooth work of walking robot and provide theoretical basis and create conditions for the development and development of new walking robot in the later period.