四轮四驱滑移转向机器人稳定转向特性分析  

Analysis of Stable Steering Characteristics of Four-wheel-drive Skid-steer Robot

作　　者：任城钰 孙致富 杨文杰 季珂珂 Ren Chengyu;Sun Zhifu;Yang Wenjie

机构地区：[1]徐州鑫科机器人有限公司,江苏省徐州市221600

出　　处：《工程机械》2023年第9期102-108,I0021,共8页Construction Machinery and Equipment

摘　　要：针对现有关于四轮滑移转向机器人的滑移转向功率、滑移转向半径、滑移转向角速度的研究结论和实际情况有比较大的出入问题,依据对机器人滑移转向现象的实际观察和理论计算,应用系统仿真软件AMESim进行仿真模拟,发现理论计算结果和AMESim模拟仿真结果高度一致,并得出滑移转向功率、滑移转向角速度与左右轮速比成正比,滑移转向半径与1/(1-k)(k为左右轮速比)成正比的结论;给出在原地回转的特殊情况下电机功率、输出轴转矩及车身回转角速度的计算式。In response to the significant discrepancy between the existing research conclusions on the skid-steer power,skid-steer radius and skid-steer angular velocity of the four-wheel-drive skid-steer robot and the actual situation,based on the actual observation and theoretical calculation of the skid steer of the robot,the system simulation software AMESim is applied for simulation,and it is found that the theoretical calculation results are highly consistent with the AMESim simulation results.It is concluded that the skid-steer power and skid-steer angular velocity is directly proportional to the left and right wheel speed ratio,and the skid-steer radius is directly proportional to 1/(1-k)(k is the left and right wheel speed ratio).The calculation equations for the motor power,output shaft torque and body turning angularvelocity in the special case of in-situ turningaregiven.

关 键 词：滑移转向功率 滑移转向半径 滑移转向角速度 输出轴转矩 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]