巡检机器人软土地面行进动力学分析与仿真  

Dynamic Analysis and Simulation of Inspection Robot Moving on Soft Soil Ground

作　　者：宋庆军[1] 胡程量 姜海燕[1] 黄兴成 Song Qingjun;Hu Chengliang;Jiang Haiyan;Huang Xingcheng(School of Intelligent Equipment,Shandong University of Science and Technology,Tai'an 271000,China;School of Mechatronic Engineering,Shandong University of Science and Technology,Qingdao 266000,China)

机构地区：[1]山东科技大学智能装备学院,山东泰安271000 [2]山东科技大学机械电子工程学院,山东青岛266000

出　　处：《煤矿机械》2021年第11期88-90,共3页Coal Mine Machinery

基　　金：山东省自然基金面上项目(ZR2020MF101)。

摘　　要：建立履带机器人软土地面行走的动力学模型,对履带式机器人驱动转矩、自身质量、滑转率、角加速度、加速度以及转动惯量进行分析。结果表明,滑转率和加速度对机器人驱动转矩的影响最大,且滑转率对驱动转矩的影响随机器人重量的增加而明显增长,角加速度和转动惯量对驱动转矩的影响较小。通过对机器人在软土地面行驶性能的分析,可为履带机器人的开发提供理论参考。The dynamic model of tracked robot walking on soft soil ground was established, and the driving torque, self mass, slip rate, angular acceleration, acceleration and moment of inertia of tracked robot were analyzed. The results show that the slip rate and acceleration have the greatest influence on the driving torque of the robot, and the influence of slip rate on the driving torque increases with the increase of the weight of the robot, the angular acceleration and moment of inertia have little influence on the driving torque. Through the analysis of the performance of the robot moving on soft soil ground,it can provide a theoretical reference for the development of tracked robot.

关 键 词：履带机器人 虚拟样机 动力学建模 软土地面 Recur Dyn 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]