特种机器人南极软地面转向动力学模型分析  

Analysis of steering dynamics model of special robot on mechamical antarctic soft ground

作　　者：范祎杰 欧屹[1] 韩军[1] Fan Yijie;Ou Yi;Han Jun(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学机械工程学院,江苏南京210094

出　　处：《南京理工大学学报》2023年第5期611-618,共8页Journal of Nanjing University of Science and Technology

摘　　要：针对南极特种机器人在南极雪面软地面的转向方案的选择问题,基于地面力学建立特种机器人软地面稳态差速转向和稳态前轮导向转向的通用数学模型,并通过数值方法对模型求解,得到硬路面差速转向、软路面差速转向、软路面前轮导向转向、软路面雪橇板前轮导向转向的驱动力和阻力矩变化规律,对比分析得出雪橇板前轮导向转向方案阻力矩最小,能够在南极雪面上获得更好的机动性,同时对该方案进行雪面动力学仿真验证。Aiming at the selection of steering scheme of antarctic special robot on antarctic snow soft ground,a general mathematical model of steady-state differential steering and steady-state front wheel steering of special robot on soft ground is established based on ground mechanics,and the model is solved by numerical method to obtain hard road differential steering,soft road differential steering,soft Road front wheel steering The change law of driving force and resistance moment of sled front wheel steering on soft road is compared and analyzed.It is concluded that the sled front wheel steering scheme has the smallest resistance moment and can obtain better mobility on the antarctic snow surface.At the same time,the snow surface dynamics simulation is carried out to verify the scheme.

关 键 词：三角履带 软地面 转向 数学模型 南极 

分 类 号：TH69[机械工程—机械制造及自动化]