Dynamics analysis on transverse cutting mechanism of straw checkerboard paving robot

The transverse cutting mechanism of the checkerboard paving robot, which directly affects the robot＇s operation, is regarded as the most important part in a transverse pavement system This research aims at designing a new system which is appropriate for desert wofidng en- vironments and finishing cutting the rope of straw. In this paper, computer emulating technology is applied, and with three-dimensional modeling by Pro/ENGINEER software, can observe whether or not interference exists. Also, the speed and displacement parameters of the main parts of the cutting system are given by the dynamic emulation by Automatic Dynamic Analysis of Mechanical System （ADAMS）, which theoretically assures the feasibility and appropriateness of the cutting mechanisrn~ Finally, results of the experinaent shows that the cutting mechanism can cut the straw strand as designed.

滚-跳多运动模式球形机器人的动力学仿真研究

复杂的探索环境对探测机器人的通行能力提出了更高要求,具有多种运动模式的球形机器人是探测机器人领域的研究热点之一。通过对球形机器人内部构件质量分布的调节,设计了一种基于单摆驱动式的滚-跳多运动模式球形机器人,其具有滚动、转向、爬坡与跳跃4种基本运动能力;随后,又根据球形机器人的设计方案建立了球形机器人4种基本运动动力学方程。利用Automatic Dynamics Analysis of Mechanical Systems(ADAMS)软件构建该球形机器人虚拟样机并对其进行了滚动、转向、爬坡与跳跃的动力学仿真,最后以此为依据计算滚动、转向、爬坡与跳跃运动性能的仿真值,并制作实验室样机验证了动力学仿真的正确性。