可变结构的地空两用机器人设计及仿真研究  

A Variable Structure of the Amphibious Robot Design and Simulation

作　　者：胡成举 王伟[1] 刘九庆[1] 摆龙 苏恒 Hu Chengju;Wang Wei;Liu Jiuqing;Bai Long;Su Heng(College of Mechanical and Electrical Engineering,Northeast Forestry University,Harbin 150040,China;College of Resources and Environment,Northeast Agricultural University,Harbin 150030,China;Shandong Aerospace Electronic Technology Institute,Yantai 264000,China)

机构地区：[1]东北林业大学机电工程学院,哈尔滨150040 [2]东北农业大学资源与环境学院,哈尔滨150030 [3]山东航天电子技术研究所,山东烟台264000

出　　处：《农机化研究》2023年第3期63-68,共6页Journal of Agricultural Mechanization Research

基　　金：黑龙江省自然科学基金项目(TD2020C001)。

摘　　要：提出了一种可变结构的地空两用机器人用于农林的信息采集,确定了机器人主要技术指标,设计了总体结构,并建立了机器人三维模型。考虑机器人作业过程中承载性能、运动性能和空间适应性等要求,对机器人机架、行走机构悬架及飞行机构悬臂等关键零部件进行了设计及仿真研究。仿真结果表明:所设计机器人结构合理、承载性能良好,能够适应不同工况下平稳运行的要求,具有较好的空间适应性。This paper presents a variable structure of the amphibious agricultural robot for information collection of agriculture and forestry,and the main technical indicators are determined,the overall structure of the robot are designed,and the 3D model are established.Considering the requirements of load-bearing performance,motion performance and space adaptability in the process of robot operation,the key parts of robot frame,walking mechanism suspension and flight mechanism cantilever are designed and simulated.The simulation results show that the designed robot has reasonable structure,good load-bearing performance,can adapt to the requirements of smooth operation under different working conditions,and has good performance space adaptability.

关 键 词：可变结构 地空两用 采集 机器人 农林信息 

分 类 号：S24[农业科学—农业电气化与自动化] TP242[农业科学—农业工程]