摘要
针对森林的复杂环境,为满足森林防火机器人履带平台的越障性能要求,本文提出一种基于椭圆定理的可变形履带平台。该履带平台通过摆臂的转动来调节履带形状,具有更好的越障性能和张紧能力。为充分了解履带平台的越障性能,在履带平台的运动机理分析基础上,对履带平台典型障碍进行动力学分析,得到越障过程的最大理论值。根据理论值结合林区实际情况计算,用Adams建立仿真平台,对攀爬高地及跨越沟壑的状态进行仿真实验,验证表明履带平台可攀爬200 mm高度台阶,跨越255 mm宽度沟壑,具有良好的越障性能。
Aiming at the complex forest environment,a deformable crawler platform based on the ellipse theorem was proposed in order to meet the obstacle-climbing performance requirements of forest fire fighting robot crawler platform.The crawler platform can adjust the shape of the crawler through the rotation of the swing arm and had better obstacle-climbing performance and tensioning capacity.In order to fully understand the obstacle-climbing performance of the crawler platform,the movement mechanism of the robot crawler platform was analyzed,and then the maximum theoretical value of the obstacle crossing process was obtained by dynamic analysis of the typical obstacles of the crawler platform.According to the theoretical value combined with the actual situation of the forest area,the simulation platform was established with Adams,and the simulation experiment was carried out on the climbing height and gully crossing state.The verification showed that the crawler platform can climb the steps of 200 mm height and span the gully of 255 mm width,and had good obstacle-climbing performance.
作者
刘泽新
王希贵
林文树
LIU Zexin;WANG Xigui;LIN Wenshu(College of Engineering and Technology,Northeast Forestry University,Harbin 150040,China)
出处
《森林工程》
北大核心
2021年第5期65-74,共10页
Forest Engineering
基金
黑龙江省自然科学基金联合引导项目(LH2020C049)
黑龙江省大学生创新创业训练计划项目(s202010225061)。
