摘要
车辆在路面行驶时会有许多因素影响着车辆的行驶性能,其中因为不同情况的路面车辆会偏移设计路线而发生滑移则是影响车辆安全行驶的重要因素之一。论文通过求解出了履带移动机器人在平面运动时的数学模型,利用多体动力学仿真软件Recurdyn对履带移动机器人进行动力学建模,通过建立起不同的土壤路面模型,来获得机器人在不同参数的路面上行驶的滑移角与牵引力等参数,以及它们之间的关系,可以进一步分析履带机器人在不同路面行驶的控制理论提供了参考。
There are many factors that affect the driving performance of vehicles when they are driving on the road,among which the slip of vehicles on the road due to their deviation from the design route under different conditions is one of the important factors that affect the safe driving of vehicles.This paper solves the mathematical model of the tracked mobile robot when it is moving in a plane,uses the multi-body dynamics simulation software recursive to model the dynamics of the tracked mobile robot,and establishes different soil pavement models to obtain the parameters such as the slip angle and the traction force of the robot when it travels on the pavement with different parameters,as well as the relationship between them.It can provide a reference for further analyzing the control theory of crawler robot traveling on different roads.
作者
孟晗
邹玉静
MENG Han;ZOU Yujing(School of Mechanical and Electrical Engineering,Qingdao University of Science and Technology,Qingdao 266061)
出处
《舰船电子工程》
2023年第9期161-165,共5页
Ship Electronic Engineering
关键词
履带移动底盘
不同路面
内聚模量
滑转角
crawler mobile chassis
different roads
cohesive modulus
slip angle
