后坐力激励下的小型履带机器人位姿变化研究

Research on Position and Posture Change of Small Caterpillar Robot under Recoil Excitation

为提高小型履带式机器人的射击精度与控制稳定性,通过有限元分析的方法研究了武器发射后坐力下小型履带式机器人位姿(位置与姿态)变化的情况;基于自动武器动力学、车辆地面力学,在有限元分析软件Abaqus中建立了某武装小型履带式机器人多体系统有限元模型;分析了缓冲器阻尼系数在0.5~4.0 N·s/mm、弹簧刚度在1~8 N/mm范围内对机器人最终位移量的影响,并得出了最优的缓冲器方案;分析了负载在0~5 kg、仰角在0~30°的范围内对机器人最终位姿的影响,并拟合出负载与仰角关于机器人最终位姿参数的回归方程。结果表明,缓冲器的参数变化、机器人的负载与发射仰角变化均对机器人在后坐力作用下的位姿变化产生显著影响,其中机器人负载和发射仰角与最终位姿参数具有强相关性。

In order to improve the shooting accuracy and control stability of small caterpillar robot,the finite element analysis was used to analyze the change of position and posture of small caterpillar robot under recoil.Based on automatic weapon dynamics and vehicle ground mechanics,a multi body system finite element model of an armed small caterpillar robot is established in Abaqus.The effect of buffer damping coefficient in the range of 0.5~4.0 N·s/mm and spring stiffness in the range of 1~8 N/mm on the final displacement of robot is analyzed,and the optimal buffer scheme is obtained.The effect of load in 0~5 kg and elevation angle in 0~30 on the final position and posture of robot is analyzed,and the regression equation of load and elevation angle on the final position and posture parameters of robot is fitted.The results show that the changes of buffer parameters,robot load and launch elevation all have a significant impact on the robot position and posture changes under the recoil,and the robot load and launch elevation have a strong correlation with the final posture parameters.