对抗机器人的双叉臂悬挂系统结构设计与有限元分析研究  

Structure Design and Finite Element Analysis of Dual Wishbone Suspension System for Combat Robot

作　　者：王清清 刘彦春[2] Wang Qingqing;Liu Yanchun(School of Mechanical Engineering,Anhui Institute of Information Technology,Wuhu,Anhui 241000,China;School of Mechnical Engineering,Anhui Technical College of Mechanical and Electrical Engineering,Wuhu,Anhui 241002,China)

机构地区：[1]安徽信息工程学院机械工程学院,安徽芜湖241000 [2]安徽机电职业技术学院机械工程学院,安徽芜湖241002

出　　处：《黑龙江工业学院学报（综合版）》2021年第7期90-95,共6页Journal of Heilongjiang University of Technology(Comprehensive Edition)

基　　金：安徽省自然科学研究项目(项目编号:KJ2019A1294);安徽省质量工程教学研究项目(项目编号:2018jyxm0317)。

摘　　要：以Robomaster赛事为背景,研究基于Mecanum Wheels的四轮驱动对抗机器人,该机器人能够自主完成目标识别,自主移动,进行攻击以及躲避敌方攻击,同时也可以接受外界指令,完成相应任务。对于对抗机器人的整体系统进行分析,设计对抗机器人悬挂系统整体方案,并在复杂场地、外界影响的条件下,确定对抗机器人为双叉臂悬挂系统,并对于关键结构部件叉臂进行有限元分析和结构处理。最后对装配完成的样车进行实际场景测试,主要测试不同条件下的通过性和稳定性。Taking Robomaster Competition as the background,this paper studies a four-wheel driven combat robot based on Mecanum Wheels.The robot can autonomously complete target recognition,autonomous movement,attack and avoid enemy attacks,and at the same time,it can also accept external instructions to complete corresponding tasks.Then,the overall system of the adversary robot is analyzed,and the overall scheme of the adversary robot suspension system is designed.Under the conditions of complex site and external influence,the adversary robot is determined to be a double fork arm suspension system,and the key structural components of the fork arm are analyzed by finite element and structural processing.Finally,the actual scene test of the assembled sample vehicle was carried out to test the passability and stability under different conditions.

关 键 词：对抗机器人 双叉臂悬挂 有限元 结构设计 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TH12[自动化与计算机技术—控制科学与工程]