摘要
针对深海富钴结壳和热液硫化调查区复杂多变的底质环境特征,提出了一种兼有主被动混合越障模式的复合轮式采矿机器人.该机器人主体由4组复合轮组与铰接密封抗压型整体罐式车架组成.建立了典型越障工况下复合轮组结构的静力学模型,得到了影响其越障性能的主要结构参数,利用MATLAB工具箱对复合轮组结构参数进行优化设计,实现机器人越障性能的提高.结合深海复杂多变的底质环境特征,运用ADAMS软件对优化设计后的复合轮式机器人进行动力学建模和仿真分析.获得了机器人越障过程中的运动学特性曲线和力学特性曲线,并通过研制原理样机对其越障性能进行测试验证.结果表明,该机器人在复杂多变的深海底质环境下中具有较强的越障能力和通过稳定性.
Due to the complex and varied substrate environmental characteristics of cobalt-rich crusts and hydrothermal sulfide survey area in deep sea, a composite wheeled mining robot with active and passive over-obstacle capacity is designed. The mining robot is composed of 4-composite wheels and an integral articulated sealed compressive tank frame. A static model of the composite wheels structure is set up in the typical over-obstacle condition, to obtain its main structural parameters affecting over-obstacle capacity. Using MATLAB toolbox, the composite wheels structural parameters are optimized for design, so that the over-obstacle capacity is improved. Considering the complex and varied substrate environmental characteristics in deep sea, dynamics model of the optimized composite wheeled robot is set up, the simulation analysis with ADAMS is performed, and dynamic characteristics curve and mechanical characteristics curve of the mining robot are obtained in over-obstacle process. Through designing prototype and testing its over-obstacle capacity, it is shown that the mining robot has strong over-obstacle capacity and transit stability in the complex and varied deep sea substrate environment.
出处
《机器人》
EI
CSCD
北大核心
2012年第2期137-143,151,共8页
Robot
基金
国家自然科学基金资助项目(50874006)
国际海底区域性研究开发"十一五"项目(DYXM-115-04-02-03)
关键词
采矿机器人
复合轮式
越障能力
mining robot
composite wheeled
over-obstacle capacity
