核电站巡检应急履带机器人越障分析

Analysis on Obstacle Overcoming of Emergency Tracked Robot in Nuclear Power Plant

针对机器人在核电站复杂环境中的地形通过要求,设计了一种具有双摆臂的履带式机器人,通过建立摆臂履带机器人越障性能分析的参数理论模型进行虚拟仿真和理论分析,以低阶梯、高阶梯、楼梯和沟壑等多种障碍物作为分析障碍物,分析了双摆臂履带机器人的系统参数与越障性能的关系。仿真结果表明,设计的双摆臂履带机器人具有较好的越障能力。同时,以机器人模型和理论分析为依据,搭建了双摆臂履带机器人平台及其运动控制系统。

In response to the robot’s terrain passing requirements in the complex environment of nuclear power plants,a crawler robot with swing arms is designed.Virtual simulation and theoretical analysis are carried out by establishing a parametric theoretical model for the analysis of the obstacle crossing performance of the dual-swing arm crawler robot.A variety of obstacles such as high stairs,stairs and ravines are used as the analysis obstacles,and the relationship between the system parameters of the dual-swing arm crawler robot and the obstacle crossing performance is analyzed.The simulation results show that the designed dual-swing arm crawler robot has better obstacle crossing ability.Based on the robot model and theoretical analysis,a dual-swing arm crawler robot platform and its motion control system are built.