草方格铺设机器人多体动力学仿真与试验  

Multi-body Dynamic Simulation and Experiments of the Straw-checkerboard Barriers Paving Robot

作　　者：刘晋浩[1] 潘海兵[2] 舒庆[3] 

机构地区：[1]北京林业大学工学院,北京100083 [2]东北林业大学机电工程学院,哈尔滨150040 [3]哈尔滨理工大学机械动力学院,哈尔滨150080

出　　处：《农业机械学报》2009年第6期153-157,共5页Transactions of the Chinese Society for Agricultural Machinery

基　　金："十一五"国家科技支撑计划资助项目(2006BAD11A15)

摘　　要：采用Pro/E和ADAMS软件相结合的方法,建立了草方格铺设机器人动力学模型,同时探讨了二者联合建模仿真的一般步骤。模型添加必要的边界条件后,对纵向压轮和横向插刀正常动作时的草方格铺设机器人振动状态进行了仿真。通过仿真,得到了牵引车、纵向铺设机构、横向铺设机构、纵向压轮和横向插刀质心的位移、速度以及加速度曲线。分析了这些曲线出现波动的原因,为进一步的优化提供了数据。通过试验,得到实际状态下的试验曲线,并与仿真曲线进行对照,证实了草方格铺设机器人仿真模型和仿真结果的合理性和可靠性。The multi-body dynamic model of the straw-checkerboard barriers paving robot is built through the combination of the Pro/E and ADAMS software： After the model is added with the required boundary conditions, the vibration state of the straw-checkerboard barriers paving robot is simulated when the pressing wheel and insert blade work normally. Through the simulation, the displacement, velocity and acceleration curves of the mass centers to the robot＇s tractor, longitudinal paving mechanism, horizontal paving mechanism, pressing wheel and insert blade are obtained. Through the analysis of the fluctuation curves, the improvement solution is proposed, which provides data for further optimization of the robot. At last, the experiment curves in the actual state are obtained by the experiment. By the contrast of the experiment and simulation curves, it is confirmed that the simulation results of the straw-checkerboard barriers paving robot are reasonable and reliable.

关 键 词：草方格 机器人 多体动力学 仿真分析 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置] TB122[自动化与计算机技术—控制科学与工程]