摘要
为满足钻孔救援需求,针对现有小型履带式机器人存在越障性能差,本体横截面积小等问题,设计了一种变结构井下救援机器人。该机器人可变化自身构型通过225mm口径钻孔到达井下,并实施救援探测任务。根据机器人构型特点,分析了其越障运动机理,并在此基础上建立多目标优化模型,利用改进的NSGA-Ⅱ算法求解,得到了机器人各结构参数经迭代后的最优值。基于机器人最优结构参数对机器人越过台阶、壕沟等典型障碍的性能进行分析,得到了机器人越障能力的理论值。最后建立机器人仿真试验模型,对机器人翻越台阶和跨越壕沟过程进行仿真。结果表明:该机器人可顺利越过230mm高的台阶以及243mm宽的壕沟,具有较优的越障性能。
In order to meet the growing requirements for downhole rescue,a variable structure downhole rescue robot is designed to solve the problems of low obstacle-surmounting performance and small body cross-sectional area of existing small tracked robots.The robot can change its configuration to reach the downhole through a 225mm hole to perform rescue detection tasks.The obsta-cle-surmounting motion mechanism of the robot was analyzed based on its configuration characteristics,on the basis of which a multi-objective optimization model was established.The optimal values of each structural parameter of the robot after iteration were obtained by solving with the improved NSGA-II algorithm.Based on these optimal values,the robot′s capacity to surmount typical obstacles such as steps,slopes and trenches was analyzed,and the theoretical values of its capacity to surmount obstacles were obtained.Finally,a robot simulation test model was established to simulate the process of the robot surmounting steps and crossing trenches.The results suggest that the robot can successfully surmount a 230mm high step and a 243mm wide trench,It has better obstacle crossing performance.
作者
田海波
孟林
芦茂林
王奥
TIAN Haibo;MENG Lin;LU Maolin;WANG Ao(School of Mechanical Engineering,Xi’an University of Science and Technology,Shaanxi Xi’an 710054,China)
出处
《机械设计与制造》
北大核心
2025年第11期303-310,共8页
Machinery Design & Manufacture
基金
国家自然科学基金面上项目(52174149)
陕西省重点研发计划一般项目(工业领域)(2022GY-241)。
关键词
变结构机器人
井下救援
多目标优化
结构参数
越障性能
Variable Structure Robot
Downhole Rescue
Multi-Objective Optimization
Structural Parameter
Surmounting Performan
