关节履带式核应急机器人越障性能研究  

Research on Obstacle Crossing Performance of Joint Crawler Nuclear Emergency Robot

作　　者：邹树梁 周龙 张德 ZOU Shu-liang;ZHOU Long;ZHANG De(Hu’nan Provincial Key Laboratory of Emergency Safety Technology and Equipment for Nuclear Facilities,Hu’nan Hengyang 421001,China;School of Mechanical Engineering,University of South China,Hu’nan Hengyang 421001,China;University of South China School of Resources Environment and Safety Engineering,Hu’nan Hengyang 421001,China)

机构地区：[1]核设施应急安全技术与装备湖南省重点实验室,湖南衡阳421001 [2]南华大学机械工程学院,湖南衡阳421001 [3]南华大学资源环境与安全工程学院,湖南衡阳421001

出　　处：《机械设计与制造》2024年第8期350-354,共5页Machinery Design & Manufacture

基　　金：核应急作业机器人关键技术研究(2017JMH01);面向核事故应急处置的关节式履带移动机器人越障性能及稳定控制方法研究—湖南省教育厅科学研究项目(19B502)。

摘　　要：为适应核事故现场强辐射、非结构化地形特征,设计了具有辐射防护能力和强越障能力的关节履带式核应急机器人,通过理论建模与动力学仿真对其在台阶、斜坡和壕沟三种工况进行了越障能力分析,对比分析了机器人越障能力的理论值和仿真试验值,验证了动力学模型的准确性;根据建立的机器人模型研究了质心对机器人越障稳定性的影响规律,提出了通过缩小质心半径波动范围提高越障稳定性的优化方案,并进行仿真验证得出了质心半径的最小值,为研究核环境非结构化地形条件下机器人越障稳定性提供了参考。To figure out adapt to the characteristics of strong radiation and unstructured terrain in the nuclear accident site,a joint crawler nuclear emergency robot with radiation protection and strong obstacle crossing capability is designed.The obstacle crossing capability of the robot is analyzed in three working conditions,namely,step,slope and trench by theoretical modeling and dynamic simulation.The theoretical value and simulation test value of the robot’s obstacle crossing capability are compared and analyzed.The accuracy of the dynamic model is verified.According to the established robot model,the influence law of the center of mass on the stability of the robot is studied.The optimization scheme to improve the stability of the robot is proposed by reducing the fluctuation range of the radius of the mass center.The minimum value of the radius of the center of mass is obtained by simulation,which provides a reference for the study of the stability of robot obstacle crossing under the non-structured terrain conditions in nuclear environment.

关 键 词：履带机器人 强越障 稳定性 

分 类 号：TH16[机械工程—机械制造及自动化] U462.1[机械工程—车辆工程] N94[交通运输工程—载运工具运用工程]