基于惯容器-弹簧-阻尼悬架的履带机器人平顺性仿真分析  

Analysis of the Riding Comfort of Tracked Robot Based on Inerter-spring-damper Suspension

作　　者：乐伟扬 杜忠华[1] 程志 卿志勇[2] YUE Wei-yang;DU Zhong-hua;CHENG Zhi;QING Zhi-yong(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China;Heilongjiang North Tool Co.,Ltd,Mudanjiang 157000,China)

机构地区：[1]南京理工大学机械工程学院,南京210094 [2]黑龙江北方工具有限公司,牡丹江157000

出　　处：《科学技术与工程》2020年第29期12042-12050,共9页Science Technology and Engineering

基　　金：国家自然科学基金(11772160,11472008)。

摘　　要：为探究惯容器-弹簧-阻尼(interter-spring-damper,ISD)悬架作为履带机器人悬架方案的应用价值,以某履带机器人方案为例,建立了采用ISD悬架的1/2移动平台8自由度模型,进行力学分析得到了系统运动微分方程,以计算机模拟的路面随机激励时域模型作为输入,利用MATLAB/Simulink建立履带机器人动力学模型,考虑履带承重轮之间地面输入的迟滞性,将路面不平度和履带机器人行驶速度相结合对模型进行仿真。结果表明,采用ISD悬架的履带机器人方案相对于采用传统被动悬架的方案,质心垂向加速度和俯仰角加速度均有明显减小,即行驶平顺性得到了改善。可见ISD悬架的应用可以提高履带机器人的行驶平顺性。To explore the application value of the inerter-spring-damper(ISD)suspension as a tracked robot suspension scheme,a tracked robot scheme was studied and a 1/2 mobile platform 8 degree of freedom model was established by using ISD suspension.The mechanical differential equation was obtained by mechanical analysis.Taking the computer-simulated road surface random excitation time domain model as input,the MATLAB/Simulink was used to establish the dynamic model of the tracked robot.Considering the hysteresis of the ground input between the track bearing wheels,the road roughness and the tracked robot driving speed were combined to simulate the model.The results show that the tracked robot scheme using ISD suspension significantly reduce the centroid vertical acceleration and pitch angular acceleration compared with the conventional passive suspension scheme,and thus the ride comfort is improved.It can be seen that the application of the ISD suspension could improve the ride comfort of the tracked robot.

关 键 词：履带机器人 仿真 惯容器-弹簧-阻尼(ISD)悬架 行驶平顺性 

分 类 号：TP391.7[自动化与计算机技术—计算机应用技术]