摘要
为了提高管道清淤机器人的越障性能,基于机器人翻越垂直障碍工况,通过建立摇臂摆杆式悬架越障的准静力学模型,得到机器人翻越垂直障碍的条件。以该模型为基础,将最小电机能量消耗作为目标函数,利用控制变量法和序列二次规划法,得到悬架尺寸参数的最优值,结果显示越障时能耗降低了12.7%。基于ADAMS对管道清淤机器人虚拟样机进行越障仿真分析,仿真结果证明了优化结果的正确性。
In order to improve the over-obstacle performance of the pipeline desilting robot,based on the condition of the robot over the vertical obstacle,the condition of the robot over the vertical obstacle was obtained by establishing a quasi-static model of the rocker arm suspension over the obstacle.Based on the model,the minimum motor energy consumption is used as the objective function,and the optimal value of the suspension size parameter is obtained using the control variable method and the sequence quadratic programming method.The results show that the energy consumption is reduced by 12.7%when the obstacle is exceeded.Based on ADAMS,the virtual prototype of the pipeline desilting robot was simulated and analyzed,and the simulation results proved the correctness of the optimization results.
作者
韩梦泽
郭京波
张潮
HAN Meng-ze;GUO Jing-bo;ZHANG Chao(State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures,Shijiazhuang Tiedao University,Shijiazhuang 050043,China)
出处
《机械工程与自动化》
2020年第4期1-3,共3页
Mechanical Engineering & Automation
基金
国家自然科学基金资助项目(51275321)。
关键词
管道清淤机器人
ADAMS
悬架越障
动力学仿真
pipeline desilting robot
ADAMS
suspension obstacle crossing
dynamic simulation
