摘要
森林火灾给生态环境和经济建设造成巨大威胁,基于森林地形环境下的消防作业要求,设计了一种六足森林消防机器人。分析了机器人的躯体和腿部结构特点以及执行机构的空间运动范围。利用Solid Works三维软件建模并导入ADAMS仿真软件,分别进行了机器人运动机构不同工作模式下三种运动姿态的切换、前进和斜坡的爬行仿真以及执行机构的运动仿真。分析了复杂地形条件下机器人的质心位移、运动平稳性、腿关节驱动力和末端执行器运动范围等参数。仿真结果验证了机器人设计的合理性与正确性,旨在为森林消防机器人后续的研究工作提供参考依据。
Forest fire poses a great threat to the ecological environment and economic construction, for the realization of fire- fighting operations with the help of robot in forest terrain environment. A forest fire-fighting hexapod robot is designed, and the mechanical structure of robot, the structure characteristic of leg and the space motion of executive mechanism are analyzed. After establishing the model with SolidWorks, imports it to ADAMS to simulate switches among three kinds of motion gestures, movements in different operating modes on flat ground, and the climbing on rugged slopes. Parameters such as centroid displacement, stability and driving force of leg joints are analyzed. It indicates that the mechanism design is reasonable and rational, which is aimed to provide a reference for forest fire-fighting robot in the following study.
出处
《机械设计与制造》
北大核心
2015年第12期208-212,共5页
Machinery Design & Manufacture
基金
国家公益性行业(林业)科研专项重大项目(201404402-03)
江苏省研究生培养创新工程项目(KYLX_0869)
