履带机器人模型

三角履带爬壁机器人越障动力学建模与仿真王瑞;高荣慧;翟华【摘要】针对一些工作场合对爬壁机器人有较高的越障性能要求,设计了一种包含4个三角形履带轮组构成的磁吸附爬壁机器人.首先设计了三角履带爬壁机器人的整体结构,研究了越障过程中机器人结构变化,以及爬行越障和翻转越障通过原理.建立了翻转越障过程动力学模型,该模型体现了机器人机构尺寸等因素对电机输出力矩的影响.根据此模型,能确定机器人越障过程所需最小驱动力矩.利用ADAMS软件进行仿真验证,仿真结果证明了动力学模型的正确性,表明了机器人结构简单,具有较强的越障能力.%A new magnetic adsorption wall-climbing robot with 4 triangular tracks is designed to help the robot cross the obstacle for some work occasions. Firstly, the construction of the robot and the structural deformation of obstacle-climbing process are studied. Then the principle of the creeping-obstacle way and the turning-over obstacle way are expounded. The dynamic model for the turning-over obstacle process is built and the model describes the influence of structure size on motor' torque. Based on this model, the minimum driving torque for the turning-over obstacle process can be determined. A virtual model is simulated by ADAMS, which prove that the dynamic model for the turning-over obstacle process is correct,and the robot with triangular tracks can climb over higher obstacle.【期刊名称】《机械设计与制造》【年(卷),期】2017(000)0z1【总页数】4页(P205-208)【关键词】三角形履带;磁吸附;爬壁机器人;越障;虚拟仿真【作者】王瑞;高荣慧;翟华【作者单位】合肥工业大学机械与汽车工程学院,安徽合肥 230009;合肥工业大学机械与汽车工程学院,安徽合肥 230009;合肥工业大学机械与汽车工程学院,安徽合肥 230009;合肥工业大学工业与装备技术研究院,安徽合肥 230009【正文语种】中文【中图分类】TH16;TP241 引言爬壁机器人是极限作业机器人的一个分支，其目的是代替人类，在核工业、石化企业、建筑行业、消防部门、造船等领域中的危险状态下作业，具有极其广泛的用途和很高的使用价值[1]。

可变形履带式机器人行走机构设计及运动仿真李松;朱建柳;金晓怡;黄立新【摘要】针对移动机器人在非结构化地形环境中负载能力低、运动稳定性较差的问题,设计了一种可变形履带式机器人行走机构.该机器人采用4节履带构型,有效地增加了与地面的接触面积,从而提高了其运动稳定性.将椭圆形成原理应用于履带张紧机构的设计当中,采用双椭圆摆臂回转机构,设计可变形履带机器人模型.为了描绘机器人的越障性能,从运动学的角度分析了机器人在爬越台阶和跨越沟壑2种典型障碍的运动过程,并得出相应的越障极限参数.利用Adams建立仿真模型,对机器人的虚拟样机进行了动力学分析.仿真分析表明机器人能够翻越200 mm高的台阶和300 mm宽的障碍,并得出驱动机器人运动的力矩曲线图.本研究为后续改进及优化研究提供了参考.%Aiming at the problem of low load capacity and poor movement stability of mobile robot in unstructured terrain environment,a travel mechanism for reconfigurable tracked robot was designed.The robot applied the configuration with four tracks, which increased the contact area with the ground effectively and improved the movement stability.By applying the ellipse forming principle to the mechanism design of the crawler tension device, and adopting swing arm mechanism with two ellipses, the model of reconfigurable tracked robot was designed.For describing obstacle-surmounting performance of robot,the processes of climbing stair and crossing gully were analyzed from the viewpoint of kinematics,and obtaining the corresponding obstacle-surmounting limit parameters.By applying Adams the simulation model was built, and the dynamics of the virtual prototyping for robot was analyzed.The resultsshow that the robot succeeded in surmounting 200 mm high stair and 300 mm wide gully,and obtained the torque curve which could drive the motion for robot,which provides an effective method for the following study of improvement and optimization.【期刊名称】《轻工机械》【年(卷),期】2018(036)001【总页数】6页(P29-34)【关键词】可变形履带式机器人;行走机构;越障性能;虚拟样机【作者】李松;朱建柳;金晓怡;黄立新【作者单位】上海工程技术大学机械工程学院,上海 201620;上海交通职业技术学院,上海 200431;上海工程技术大学机械工程学院,上海 201620;上海工程技术大学机械工程学院,上海 201620【正文语种】中文【中图分类】TP242机器人技术正逐渐转向可以在特殊环境中执行任务的特种机器人，而移动机器人是最早研究、应用最为广泛的一类特种机器人[1-3]。