轮式牵引机器人优化设计及运动特性分析  

Optimization Design and Locomotion Characteristics Analysis of Wheeled Traction Robot

作　　者：吴伟[1] 李博[1] 刘娜娜 马广志 Wu Wei;Li Bo;Liu Nana;Ma Guangzhi(School of Mechanical Engineering,Xi’an Shiyou University,Xi’an 710065,China)

机构地区：[1]西安石油大学,机械工程学院,陕西西安710065

出　　处：《系统仿真学报》2020年第5期918-926,共9页Journal of System Simulation

摘　　要：为定量评价轮式牵引机器人在同一管径水平井内的动态运动特性与越障性能,建立了轮式牵引机器人爬行模块的受力模型,优化了结构及尺寸参数,实现了机器人ADAMS整体建模,并构建了对象机器人驱动机构、支撑机构及牵引阻力的Simulink控制模型。提出了轮式牵引机器人的ADAMS/Simulink联合仿真建模方法,进行了对象机器人运动特性及越障性能仿真分析。仿真结果表明结构优化后提高了该型机器人在水平井内的动态运动特性,验证了其较好的越障能力,且仿真计算与理论分析结果基本一致。To evaluate quantitatively the dynamic locomotion characteristics and obstacle performance of the wheeled traction robot in horizontal well with single pipe diameter, the mechanical model of the crawling module of the wheeled traction robot is established and the structural and size parameters are optimized. The ADAMS model of the current robot is presented, and the Simulink models of three parts of the driving module, supporting mechanism and traction resistance are built. A specified method of the ADAMS/Simulink joint simulation modeling is proposed to analyze the locomotion characteristics and obstacle performance of the wheeled traction robot. The simulation results quantitatively show that the dynamic locomotion characteristics of this current robot in horizontal well is improved and meets the requirements of overcoming the obstacles. The simulating calculation results are coincident approximately with the theoretical calculation results.

关 键 词：轮式牵引机器人 优化设计 ADAMS/Simulink联合仿真 运动特性 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]