履带式爬壁机器人多体动力学模型

IF 1.9 4区工程技术 Q3 ENGINEERING, MECHANICAL

Proceedings of the Institution of Mechanical Engineers Part K-Journal of Multi-Body Dynamics Pub Date : 2022-08-09 DOI:10.1177/14644193221099110

Yi Fang, Shuai Wang, Da Cui, Qiushi Bi, Chuliang Yan

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引用次数: 2

摘要

设计了一种带负压吸附的履带式爬壁机器人。基于履带载荷的离散化方法，建立了机器人的动力学模型。通过对比虚拟样机仿真和样机实验两种不同的方法，验证了运动学模型和动力学模型的正确性。根据动态模型和虚拟样机的仿真结果，分析了设计参数对爬壁机器人运动性能的影响。机器人两条轨迹之间的速度差越小，两条轨迹之间的距离越长，吸附壁的倾角越大，机器人的转弯半径就越大。本文的研究内容可以为改进履带式爬壁机器人和履带式车辆提供新的设计优化方法和理论依据。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Multi-body dynamics model of crawler wall-climbing robot

In this paper, a crawler-type wall-climbing robot with negative pressure adsorption is designed. The dynamic model of the robot is established based on the method of discretizing the force load of the track shoe. The correctness of the kinematic model and dynamic model is proved by comparing two different ways of virtual prototype simulation and prototype experiment. According to the simulation results of the dynamic model and virtual prototype, the influence of design parameters on the motion performance of the wall-climbing robot is analyzed. The smaller the speed difference between the two tracks of the robot, the longer the gauge between the two tracks, and the greater the inclination of the adsorption wall, the larger the turning radius of the robot will be. The research content based on this paper can provide a new design optimization method and theoretical basis for improving crawler wall-climbing robots and crawler vehicles.

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来源期刊

Proceedings of the Institution of Mechanical Engineers Part K-Journal of Multi-Body Dynamics 工程技术-工程：机械

CiteScore

4.10

自引率

11.10%

发文量

审稿时长

>12 weeks

期刊介绍： The Journal of Multi-body Dynamics is a multi-disciplinary forum covering all aspects of mechanical design and dynamic analysis of multi-body systems. It is essential reading for academic and industrial research and development departments active in the mechanical design, monitoring and dynamic analysis of multi-body systems.