四履带式巡检机器人行走机构的分析及仿真  

Analysis and Simulation of Four-track Inspection Robot Walking Mechanism

作　　者：朱善静 胡坤[1] 苏国用 ZHU Shanjing;HU Kun;SU Guoyong(School of Mechanical Engineering,Anhui University of Science and Technology,Huainan Anhui 232001,China)

机构地区：[1]安徽理工大学机械工程学院,安徽淮南232001

出　　处：《佳木斯大学学报（自然科学版）》2024年第3期62-66,79,共6页Journal of Jiamusi University：Natural Science Edition

基　　金：安徽理工大学环境友好材料与职业健康研究院研发专项基金资助项目(ALW2021YF10);安徽省高校学科拔尖人才学术资助项目(gxbjZD2022015)。

摘　　要：针对巡检机器人工作环境较为复杂,对一种四履带双摇臂式巡检机器人行走机构进行研究。从运动学角度,通过建立机器人在攀爬台阶以及跨越沟壑两种越障过程中的参数坐标系,分析其质心变化,来描述机器人行走机构的越障能力。通过Solidworks进行三维建模;并通过Matlab建立三维随机路面模型;然后导入Adams中,完成机器人行走机构攀爬台阶及跨越沟壑的仿真实验。对仿真结果进行分析,机器人行走机构能够攀爬200mm高的台阶以及跨越500mm宽的沟壑,并能够得到机器人翻越台阶及跨越沟壑时驱动轮的速度及加速度。通过虚拟仿真和样机调试,可以得到机器人在障碍物路面具有较好的适应性和越障能力,为危险特殊路况环境中的巡检工作带来很大的实际应用价值和推广空间。Aiming at the complex working environment of inspection robots,a four-track double-rocker type inspection robot walking mechanism is studied.From the kinematic point of view,the obstacle crossing ability of the robot walking mechanism is described by establishing the parameter coordinate system of the robot in the process of climbing steps and crossing the ravine,and analyzing the change of its center of mass.3D modeling with Solidworks,a three-dimensional random pavement model is established by Matlab.Then it was imported into Adams to complete the simulation experiment of the robot walking mechanism climbing steps and crossing ravines.Based on the analysis of the simulation results,the robot walking mechanism can climb 200mm high steps and cross 500mm wide ravines,and can obtain the speed and acceleration of the driving wheel when the robot climbs over steps and crosses ravines.Through virtual simulation and prototype debugging,it can be obtained that the robot has good adaptability and obstacle crossing ability on the obstacle road,which brings great practical application value and promotion space for the inspection work in the dangerous and special road environment.

关 键 词：四履带式巡检机器人 越障性能 三维随机路面 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]