摘要
介绍了国内外对履带式救援机器人方面的研究,分析当前摆臂式履带机器人机械结构复杂、制造成本高、参与救援较少的国内现状,同时介绍了前置摆臂式履带救援机器人的机械机构和相关的现实意义。分析了之前基于D-H质心模型研究仅考虑质心纵坐标与越障高度关系的局限,在MATLAB中建立越障时质心横、纵坐标的数学模型,分析了其他非结构地形的越障机理,并借助ADAMS进行运动仿真,观察机器人的运动特点,取得相关数据指导当前正在制作的实验样机。阐述了前置摆臂履带救援机器人对当前柔性履带机器人、群体机器人、分布式救援系统、复杂操作平台的开发与实验具有积极作用。
Domestic and overseas research on crawler rescue robot introduced,current domestic situation of swing arm type crawler robot of complex structure analyzed then,high manufacturing cost,less involved in the rescue,as well as the mechanism and the practical significance of crawler rescue robot with front swing arm discussed. In addition,the limitation of the previous studies based on D-H centroid model which only consider the relation between centroid vertical axis and the obstacle height was analyzed.The mathematical model of centroid horizontal and vertical coordinates in crossing obstacle is established in MATLAB,it analyzes the mechanism when crossing other non-structure obstacles,kinematic simulation of the robot on different terrains based on the ADAMS carried out to observe the kinematic characteristics of the robot,then obtain relevant data obtained in order to provide reference for current manufacturing of the prototype. The front arm tracked rescue robot plays a positive role in the development and experiment of flexible tracked robots,swarm robots,distributed rescue systems and complex operating platforms.
作者
罗建国
卜泽昊
LUO Jian-guo;BU Ze-hao(Department of Mechanical ＆ Electrical,North China Institute of Science and Technology,Beijing 101601,China;Graduate School,North China Institute of Science and Technology,Beijing 101601,China)
出处
《机械设计与制造》
北大核心
2018年第7期260-262,共3页
Machinery Design & Manufacture
基金
国家自然科学基金项目(51775035)
河北省教育厅青年基金项目(QN2017410)
中央高校基本科研业务项目(3142017051
3142015023)
