全地形移动机器人悬架机构动力学特性及其优化  

Dynamic Characteristics and Optimization of Suspension Mechanism of All-terrain Mobile Robots

作　　者：胡汉春 苏蓉 尹宗军 王志 沈邓超 HU Han-chun;SU Rong;YIN Zong-jun;WANG Zhi;SHEN Deng-chao(School of Mechanical Engineering,Anhui University of Information Engineering,Wuhu 241100,Anhui;School of Mechanical Engineering,Anhui Polytechnic University,Wuhu 241100,Anhui)

机构地区：[1]安徽信息工程学院机械工程学院,安徽芜湖241100 [2]安徽工程大学机械工程学院,安徽芜湖241100

出　　处：《陇东学院学报》2025年第2期37-43,共7页Journal of Longdong University

基　　金：安徽省教育厅高校自然科学研究重点项目“工程机械高磨损结构件硬面侧制备特殊功能性材料及高效堆焊技术研发”(2022AH051891);安徽省教育厅高校自然科学研究重点项目“基于自由曲面造型原理的复杂型腔模具精密测量方法研究”(2022AH030160);安徽省教育厅高校自然科学研究重点项目“无人叉车控制系统及其关键技术研究”(KJ2021A1208)。

摘　　要：以全地形移动机器人为研究对象,针对其在复杂路面上转向过程中的振动问题,设计与路面相匹配的独立悬架机构,并建立了基于悬架结构的路面激励悬架动力学模型,通过Adams软件对全地形移动机器人独立悬架减振机构进行动力学分析,从而得到悬架刚度及阻尼的优解。通过将优化后的相关参数适配样机,对全地形移动机器人进行户外实验,分别分析了在水泥路面、石子路面、鹅卵石路面上悬架特性参数优化对减振性能的影响。结果表明,优化后悬架机构具备良好的平顺性,能满足平稳行驶的工作需求。Taking the all-terrain mobile robot as the research object,aiming at the vibration problem during steering on the complex road,an independent suspension mechanism matching the road surface is designed.A suspension dynamic model based on the road excitation of suspension structure is established.Dynamics analysis of the independent suspension damping mechanism of the all-terrain mobile robot is carried out through Adams software,and the optimal solution of the suspension stiffness and damping is obtained.By adapting the optimized relevant parameters to the prototype,the outdoor experiment of the all-terrain mobile robot is carried out,and the influence of suspension characteristic parameters optimization on vibration reduction performance on cement pavement,gravel pavement and cobblestone pavement is analyzed respectively.The results show that the optimized rear suspension mechanism has good driving harshness and can meet the working requirements of smooth driving.

关 键 词：全地形移动机器人 车身悬架 动力学特性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]