密闭空间移动机器人结构设计、建模与仿真

A. A. Razak, A. Abdullah, K. Kamarudin, F. Saad, S. Shukor, H. Mustafa, M. Bakar
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引用次数: 6

摘要

密闭空间中可能存在的大气危害对在相应场所执行特殊任务的人员构成严重威胁。被认为是密闭空间的区域包括公用隧道、锅炉、储罐、污水管道、人孔和地下电气故障。目前,还没有专门的技术来代替工人在密闭空间中采集空气样本来监测危害。集成电子鼻(e-nose)(即也称为移动嗅觉)的移动机器人可用于在环境中机动,同时监测危险。本文设计了一种适用于密闭空间的移动机器人结构,并对其进行了建模和仿真。移动机器人采用四轮滑转向驱动机构,实现快速急转弯。机器人的数学描述由静态运动学模型表示。机器人的矩形结构由中空的矩形低碳钢条构成。对结构的应力和位移进行了仿真分析。分析结果表明,该结构适合于密闭空间的应用。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Mobile robot structure design, modeling and simulation for confined space application
The atmospheric hazards that may be present in confined space pose serious threat to human while carrying special task in the respective location. Among the areas that are considered as confined space are utility tunnel, boiler, storage tank, sewage lines, man holes and underground electrical fault. Currently, there is no specific technique to replace worker for task such as collecting air sample in the confined space for monitoring the hazards. A mobile robot integrated with an electronic nose (e-nose) (i.e also called mobile olfaction) can be used to maneuver through the environment and at the same time monitor the hazards. In this paper a mobile robot structure is designed, modeled and simulated for confined space application. The mobile robot is designed to adopt four wheels skid-steering driving mechanism to allow immediate and sharp turning. The mathematical description of the robot is represented by static kinematic model. The robot's rectangular structure is built using hollow rectangular mild steel bars. Simulation is done to analyse the structure's stress and displacement. The analysis of the results indicates that the structure is suitable to be used for the confined space application.
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