轮履复合救援机器人的乘适性分析与优化  

Analysis and Optimization of Ride Comfort for a Wheel-tracked Rescue Robot

作　　者：李浩[1,2] 侍才洪[2] 康少华[3] 张西正[2] 

机构地区：[1]天津理工大学,天津300384 [2]军事医学科学院,天津300161 [3]军事交通学院,天津300161

出　　处：《中国机械工程》2015年第11期1444-1449,共6页China Mechanical Engineering

基　　金：军队重大专项(BS312C002);军事医学科学院创新基金资助项目(2012CXJJ007)

摘　　要：研究了一种新型轮履复合式救援机器人,它可通过轮履结构的转换在灾难现场等复杂环境中高效地解救和运送伤员。出于对解救伤员在运送过程中安全性、舒适性的考虑,对救援机器人以轮式状态运送伤员的过程进行了振动分析,并利用ADAMS建立救援机器人轮式结构的动力学模型,对其在实际路况的运行进行了仿真分析。考虑人体不同部位不同方向具有不同的频率加权,利用MATLAB设计相应滤波器对仿真所得振动曲线进行处理以计算救援机器人的乘适性。以获取更好的乘适性为目标,通过MATLAB优化工具箱对救援机器人悬架参数进行了优化设计,并进一步验证了优化结果的合理性。This paper presented a new kind of wheel-tracked rescue robot,which could efficiently search and transport the wounded in the disaster sites and other complex environments by converting the structure between wheel and track.Considering the safety and comfort of the wounded,this paper focused on the vibration analysis during the transporting of the wounded,and used the multi-body dy-namics software ADAMS to establish the rescue robot＇s dynamics model.This model was about the simulation analysis of the operation in the actual road conditions.Considering different parts of the human body have different frequency weighting functions in different directions,the simulation curve should be processed by the corresponding filter designed by MATLAB to calculate the robot＇s ride comfort.Target to better ride comfort,the suspension parameters should be redesigned by the MAT-LAB optimization toolboxes.And the further simulation outcomes demonstrate the rationality of the optimization results.

关 键 词：轮履复合 动力学分析 乘适性 优化设计 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]