轮履复合巡检机器人行走机构的设计及动态仿真分析  

Design and Dynamic Simulation Analysis of Walking Mechanism of Wheel-Track Composite Inspection Robots

作　　者：张磊 伍章鹏 郑漫 ZHANG Lei;WU Zhangpeng;ZHENG Man(Department of Mechanical and Electrical Engineering,Anhui Automotive Vocational and Technical College,Hefei 230000,China;Mining Branch,Zhejiang Communications Resources Investment Group Co.,Ltd.,Hangzhou 310000,China)

机构地区：[1]安徽汽车职业技术学院机电工程系,安徽合肥230000 [2]浙江交通资源投资集团有限公司矿业分公司,浙江杭州310000

出　　处：《太原学院学报（自然科学版）》2024年第4期38-44,共7页Journal of TaiYuan University:Natural Science Edition

基　　金：安徽省重点科研项目(2022AH053136)。

摘　　要：针对传统巡检机器人行走机构对非结构化地形适应性差的问题,设计了轮履复合巡检机器人行走机构,并进行动态仿真分析。所设计的轮履复合巡检机器人行走机构前轮采用三角形履带,对地面损伤少,非结构化地形适应性好;后轮采用普通圆形车轮,降低机器人移动能耗。采用理论方法对所设计的轮履复合巡检机器人行走机构的爬坡性能以及越障性能进行分析,获得了理论上的最大爬坡度、越过垂直障碍物最大高度以及通过沟槽障碍物最大宽度。最后借助RecurDyn软件建立了轮履复合巡检机器人多体动力学模型,对不同路面、不同爬坡角度、不同垂直障碍物高度以及不同沟槽宽度进行仿真。结果表明,在爬坡、越障时履带轮张紧力增加,张紧力波动大,驱动轮扭矩增加,驱动轮扭矩波动大。Aiming at the problem of poor adaptability of the walking mechanism of traditional inspection robots on unstructured terrain,a wheeled walking robot walking mechanism was designed and dynamic simulation analysis was carried out.The front wheel of the wheel-track composite inspection robot adopted triangular track,which did less damage to the ground and showed better adaptability to unstructured terrain.The rear wheel used ordinary round wheels to reduce energy consumption in motion.The climbing performance and obstacle crossing performance of the walking mechanism of the wheel-track composite inspection robot were theoretically analyzed,and the theoretical maximum climbing grade,maximum height over vertical obstacles and maximum width through trench obstacles were obtained.Finally,the multi-body dynamic model of the inspection robot was established using RecurDyn software to simulate different road surfaces,climbing angles,vertical obstacle heights and groove widths.The results show that the tension of track wheel increases,the tension fluctuates greatly,the driving wheel torque increases,and the driving wheel torque fluctuates greatly during climbing and obstacle crossing.

关 键 词：轮履复合 巡检机器人 结构设计 爬坡性能 越障性能 

分 类 号：TH165[机械工程—机械制造及自动化]