摘要
现有的爬杆机器人在研究中常侧重于越障能力或负载能力某一方面,无法同时满足实际生产对这两方面提出的高要求,为此设计了一种新型关节-轮式爬杆机器人,兼具了轮式机器人较强的负载能力和关节式机器人良好的越障能力。建立了爬杆机器人在轴向、周向、翻转运动姿态下的整体力学模型和基于稳态侧偏理论的弹性车轮力学模型,研究了夹紧力对运动方向和稳定性的影响。根据理论计算结果,在ADAMS中对爬杆机器人虚拟样机进行动力学仿真,实现了三种姿态下的稳定运动,验证了机器人设计及力学模型的正确性。
The existing climbing pole robots often focus on the ability of obstacle clearance or load capacity in the study,can not satisfy the actual production of the high demands of these two aspects.Therefore,a new type joint-wheeled pole climbing robot was designed,both load capacity of wheeled robot and good obstacle surmounting ability of joint robot. The overall mechanical models of the pole climbing robot under axial,circumferential and inversion motion posture and the elastic wheel mechanic models based on the steady-state lateral deflection theory were established,besides,the influence of clamping force on the motion direction and stability was studied. According to the theoretical calculation results,the dynamic simulation of the virtual prototype of the pole climbing robot was carried out in ADAMS,and the stable motions of the three kinds of attitude were realized. Therefore the correctness of the robot design and the mechanical model is verified.
作者
杨书建
侯宇
卢蒙
YANG Shu-jian;HOU Yu;LU Meng(Key Laboratory of Metallurgical Equipment and Control Technology,Wuhan University of Science and Technology,Hubei Wuhan430081,China;Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering,Wuhan Unive-rsity of Science and Technology,Hubei Wuhan430081,China)
出处
《机械设计与制造》
北大核心
2020年第3期254-257,共4页
Machinery Design & Manufacture
关键词
关节-轮式爬杆机器人
稳态侧偏理论
稳定性
虚拟样机
Joint-Wheeled Pole Climbing Robot
Steady-State Lateral Deflection Theory
Stability
Virtual Prototype
