主从履带复合式越障机器人软土行走研究  

Research of Walking on Soft Soil Road of Compound Obstacle Crossing Robot with Master-slave Track

作　　者：徐飞[1] 杨海忠[2] 

机构地区：[1]西京学院管理科学系,陕西西安710123 [2]西安财经学院统计学院,陕西西安710100

出　　处：《工矿自动化》2012年第11期50-52,共3页Journal Of Mine Automation

基　　金：陕西省自然科学基础研究计划项目(SJ08A26);科技型中小企业技术创新基金项目(08C26226102372)

摘　　要：分析了履带行走系统的力学系统原理,并采用多体动力学软件RecurDyn对主从履带复合式越障机器人虚拟样机在平地软土路面环境中的行走状态进行了仿真分析。仿真结果表明,由于样机的重心位置没有与几何中心位置重合,导致引导轮下履带沉陷量较大,而压力分配不均匀又可能导致履带局部接地,降低履带寿命,因此设计时要注意车体重心的合理分配问题。The paper analyzed principle of mechanical system of crawler travel system,and used multi-body dynamics software of RecurDyn to do simulation and analysis of walking state on flat road with soft soil of virtual prototype of compound obstacle crossing robot with master-slave track.The simulation results show that the gravity center of the prototype does not coincide with the geometric center,which leads down track of guide wheel to sink lower than other tracks,while the uneven pressure distribution may lead to locally grounding of track and reducing track life.So the rational allocation of gravity center of prototype should be paid attention to during design.

关 键 词：履带行走系统 越障机器人 软土行走 虚拟样机 RECURDYN 

分 类 号：TD67[矿业工程—矿山机电]