仿生挖掘机器人结构及运动特性研究  

Research on structure and motion characteristics of bionic excavating robot

作　　者：马小英 杜伊健 闫玉涛[2] MA Xiaoying;DU Yijian;YAN Yutao(School of Mechanical Engineering,Shenyang Ligong University,Shenyang 110159;School of Mechanical Engineering&Automation,Northeastern University,Shenyang 110819)

机构地区：[1]沈阳理工大学机械工程学院,辽宁沈阳110159 [2]东北大学机械工程与自动化学院,辽宁沈阳110819

出　　处：《机械设计》2023年第7期54-61,共8页Journal of Machine Design

基　　金：国家自然科学基金资助项目(51875095);辽宁省教育厅青年科技人才“育苗”项目(LJKZ0259);辽宁省博士科研基金计划项目(1010147000820)。

摘　　要：为了更好地完成仿生鼹鼠挖掘机器人地下挖掘工作,文中对挖掘过程的运动轨迹进行了分析,提出了一种由曲柄滑块机构与曲柄摇杆机构组合构成的挖掘机构。为分析挖掘机构中不同长度的曲柄摇杆机构连杆对机构运动状态的影响,采用动力学软件ADAMS分析了一个运动周期内挖掘机构的运动特性随时间变化的运动规律,并采用双摇杆机构进行对照,确定了选用曲柄摇杆机构的优越性,选取了构成挖掘机构的最优长度组,并确定了曲柄滑块机构对曲柄摇杆机构的运动影响。结果表明:构成曲柄摇杆机构的连杆长度组合为80 mm与46 mm时,挖掘机构的工作范围更合理,运动过程中各个阶段的速度、加速度变化趋势更平稳,并且能够满足机构的设计要求,该机构能够为挖掘机器人研究提供理论支撑。In this article,in order to ensure that the mole bionic excavating robot can complete the tasks of underground excavation in a better way,efforts are made to explore the trajectory in the excavating process,and an excavating mechanism composed of the crank slider mechanism and the crank rocker mechanism is proposed.In order to analyze the influence of the crank rocker mechanism's connecting rods with different lengths on the motion state of the excavating mechanism,the dynamic software ADAMS is used to work out the excavating mechanism's ever-changing motion characteristics in a moving cycle,and the double rocker mechanism is used to compare the results.Thus,the crank rocker mechanism's advantages are determined,the optimal length group for the excavating mechanism is selected,and the influence of the crank slider mechanism on the motion of the crank rocker mechanism is identified.It is shown that when the length of the crank rocker mechanism's connecting rod is 80 mm and 46 mm,the working range of the excavating mechanism is more reasonable on one hand and both the speed and the acceleration in each stage in the moving process change more steadily on the other hand,which meets the design requirements of this mechanism.This excavating mechanism provides theoretical support for research on the excavating robots.

关 键 词：挖掘机器人 曲柄摇杆机构 轨迹分析 运动学分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TU621[自动化与计算机技术—控制科学与工程]