摘要
为了提高危险环境下履带机器人跨越沟壑性能,对履带机器人跨越沟壑的关键过程进行运动学和动力学理论分析。根据越沟壑过程中需要满足的几何约束、履带不打滑和履带机器人不发生倾翻的约束条件,得到了履带机器人能跨越最大沟壑宽度的通用公式,并通过理论分析得出了履带机器人质心分布对跨越沟壑最大值的影响规律。最后通过Recurdyn建立仿真和样机实验,根据理论计算得到的临界值,对跨越沟壑过程进行仿真和实验,验证了履带机器人的越沟壑能力。
In order to improve the ability of crossing gully for crawler robot in the dangerous environment,the kinematics and dynamics of the crawler robot in the process of crossing the gully is analyzed.According to the geometric constraints,the track not to skid and the constraint condition that the crawler robot does not turn over,the general formula for the crawler robot to span the maximum gully width and the influence of the centroid distribution of the crawler robot on the maximum value of the gully are obtained.Finally,the ability of the crawler robot to crossing gully is validated by simulation in Recurdyn and experiment based on the critical value obtained by the theoretical calculation.
作者
王亚翔
刘满禄
张俊俊
张华
WANG Ya-xiang;LIU Man-lu;ZHANG Jun-jun;ZHANG Hua(School of Special Environment Robotics Laboratory of Sichuan Province Southwest University of Science and Technology,Sichuan Mianyang621010,China)
出处
《机械设计与制造》
北大核心
2020年第7期255-259,共5页
Machinery Design & Manufacture
基金
“十三五”国家核能开发科研项目([2016]1295)。
