防风固沙草方格铺设机器人横向割断机构的动力学分析  

Dynamics Analysis on Transverse Cutting Mechanism of Straw Checkerboard Paving Robot

作　　者：孙术发[1] 刘晋浩[2] 叶郁[3] 

机构地区：[1]东北林业大学,黑龙江哈尔滨150040 [2]北京林业大学,北京100083 [3]哈尔滨电机厂有限责任公司,黑龙江哈尔滨150040

出　　处：《中国沙漠》2011年第5期1087-1092,共6页Journal of Desert Research

基　　金："863"国家高技术研究发展项目(2002AA422170);黑龙江省教育厅科学技术资助项目(10541042)资助

摘　　要：横向割断机构是草方格铺设机器人横向铺设系统中一个重要的组成部分,直接影响机器人的正常运行。针对草方格铺设机器人所要完成的任务,设计出一套既适合工作环境、又能完成割断任务的新型机构。应用计算机仿真技术,利用Pro/ENGINEER软件绘制出割断机构的三维模型,观察模型设计是否存在干涉等现象;利用ADAMS软件对割断机构进行动力学仿真,通过仿真观察机构的运行,绘制出关键部位的速度、位移等参数曲线,在理论上确保割断机构动作方面的可行性、合理性;最后通过实验验证横向割断机构能够按设计完成割断草帘绳的任务。The transverse cutting mechanism is regarded as the most important part in transverse pavement system of the checkerboard paving robot and it will directly affect the robot＇s operation.This research aims at designing a new system which is appropriate for the desert working environment and can take the cutting check task.In the paper,the computer emulating technology is applied,and by the three-dimensional modeling by Pro/ENGINEER software,we can observe whether interference exists or not.Besides,the speed and displacement parameters of the main parts of the cutting system are given by the dynamics emulation by ADAMS,which theoretically assures the feasibility and appropriateness of the cutting mechanism.At last,the result of the experiment shows that the cutting mechanism can cut the straw strand as designed.

关 键 词：草方格 割断机构 动力学分析 ADAMS 

分 类 号：TH122[机械工程—机械设计及理论]