摘要
设计一款用于复杂环境的履带式消防机器人,在不同环境下,其可靠性和稳定性显得更加重要。该机器人采用履带式底盘结构,采用阻尼弹簧减振器作为减振系统,克服了传统履带结构带来的振动问题。对机器人的爬梯过程进行运动学分析,得出运动方程。在RecurDyn/Track LM模块下,对设计的履带消防机器人进行爬梯过程的仿真分析,得到机器人爬梯所需的驱动转矩;针对仿真试验得出的重心变化曲线,进行了机器人爬梯的稳定性分析。
To design a crawler fire-fighting robot for diverse working environments,the reliability and stability are even more important. By utilizing the crawler-type chassis structure and the damping spring shock absorber used as the damping system,the traditional vibration problems caused by the traditional crawler structure are overcome. The motion equation is derived by the kinematics analysis on the robot crawling ladder. By conducting the simulation analysis on the crawling process of the designed crawler fire-fighting robot under the Track LM module of Recur Dyn,the driving torque required for the robot ladder is obtained. According to the curve of gravity change obtained by simulation tests,the stability analysis on the robot to crawl ladder is achieved.
作者
张响亮
张华
熊根
周依霖
Zhang Xiangliang;Zhang Hua;Xiong Gen;Zhou Yilin(Key Laboratory of Robot and Welding Automation of Jiangxi,Nanchang University,Nanchang 330031,China)
出处
《机械传动》
北大核心
2020年第6期89-95,共7页
Journal of Mechanical Transmission
基金
江西省高等学校科技落地计划(KJLD13002)。
