核探测机器人底盘设计与越障性能仿真验证  

Chassis Design and Obstacle-crossing Performance Simulation Verification of Nuclear Detection Robot

作　　者：胡俊涛 李图玖 朱宇飞 王淼 张俊俊[1] HU Juntao;LI Tujiu;ZHU Yufei;WANG Miao;ZHANG Junjun(School of Manufacturing Science and Engineering,Southwest University of Science and Technology,Mianyang 621010,Sichuan,China;Sichuan Nuclear Baoruixiang Technology Co.,Ltd.,Mianyang 621010,Sichuan,China;China Nuclear Fourth Research Institute Design Engineering Co.,Ltd.,Shijiazhuang 050022,Heibei,China)

机构地区：[1]西南科技大学制造科学与工程学院,四川绵阳621010 [2]四川核保锐翔科技有限公司,四川绵阳621010 [3]中核第四研究院设计工程有限公司,石家庄050022

出　　处：《西南科技大学学报》2023年第2期97-104,共8页Journal of Southwest University of Science and Technology

基　　金：中国辐射防护研究院核应急能力建设项目(企业项目)(21zh0212)。

摘　　要：为减少核辐射对工作人员身体的损伤,设计了一款可用于强辐射环境的、具有较好通过性和地形适应能力的附有减震系统的核环境探测机器人。该机器人搭载多种探测传感器并对关键驱控部分进行了辐射屏蔽,可在强辐射环境下完成探查、巡检作业;机器人的履带移动底盘设计采用驱动轮与地面具有一定角度的离地角同时使诱导轮接地的方法以保证机器人具有较好的越障性能和地形适应能力;底盘设计了减震结构以减少机器人震动对探测器造成的影响。通过理论分析确定了移动底盘相关参数,通过三维绘图软件SolidWorks建立了机器人三维模型,利用动力学仿真软件RecurDyn对机器人底盘越障能力进行了仿真分析,得出了机器人在越障过程中其质心与驱动扭矩的变化关系,验证了底盘越障可靠性,为实验样机的研制奠定了理论基础。In order to reduce the physical damage of staff caused by nuclear radiation,a nuclear environment detection robot with damping system,which can be used in strong radiation environment and has good trafficability and terrain adaptability,is designed.The robot is equipped with a variety of detection sensors and has radiation shielding for key drive and control parts,which can complete detection and patrol inspection in a strong radiation environment;The design of the crawler mobile chassis of the robot adopts the method that the driving wheel has a certain angle of departure from the ground and the inducer is grounded at the same time to ensure that the robot has good obstacle surmounting performance and terrain adaptability;The chassis is designed with a damping structure to reduce the impact of robot vibration on the detector.The relevant parameters of the mobile chassis are determined through theoretical analysis,and the 3D model of the robot is established by using the 3D drawing software SolidWorks.The obstacle-crossing ability of the robot chassis is simulated and analyzed by using the dynamics simulation software RecurDyn,and the change relationship between the centroid and driving torque of the robot during the obstacle-crossing process is obtained,which verifies the obstacle-crossing reliability of the chassis,and lays a theoretical foundation for the development of the experimental prototypes.

关 键 词：核探测机器人 履带移动底盘 越障性能 动力学仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]