新型刚柔耦合爬壁机器人虚拟样机建模与仿真分析

Modeling and simulation analysis of new rigid-flexible coupling wall-climbing robot's virtual prototype

对于具有刚柔耦合性质的船用爬壁机器人在建立虚拟样机时,履带为多柔性体连接件,刚性体与柔性体机构之间难以建立配合关系及动力学约束,从而导致其不能完成仿真运动。针对此问题,文中依据DAE建模原理和SI2积分求解法提出刚柔分离建模方案。设计了刚柔耦合爬壁机器人,其由刚体性质的车体框架和柔体性质的履带移动机构组成。通过此建模方案有效地完成了机器人的多体动力学虚拟样机建模和仿真,联合仿真结果表明:机器人的越障能力提高了3 mm。基于此虚拟样机模型完成了实际样机的制作与试验,验证了此刚柔耦合爬壁机器人设计的合理性及刚柔分离建模方案的可行性,为履带式机器人领域的多体动力学虚拟样机建模提供了新方案。

As for the marine wall-climbing robot with rigid-flexible coupling properties,when setting up a virtual prototype,the crawler is a multi-flexible body connector,and it is difficult to establish a matching relationship and dynamic constraints be-tween the rigid body and the flexible body,which makes it impossible to simulate the motion.In this article,in order to solve this problem,according to the DAE modeling principle and the SI2 integral solution method,a rigid-flexible separation modeling scheme is proposed.A rigid-flexible coupling wall-climbing robot is designed,which is composed of a rigid body frame and a flex-ible crawler moving mechanism.Through this modeling program,the robot's virtual prototype featuring the multi-body dynamics is subject to modeling and simulation in an effective manner.The results show that the robot's obstacle-climbing ability improves by 3 mm.Based on this virtual prototype model,the actual prototype is produced and tested,which has verified that the design of the rigid-flexible coupling wall-climbing robot is reasonable and the rigid-flexible separation modeling scheme is feasible.This study provides new reference for the multi-body dynamic modeling of virtual prototype in the field of crawler robots.