摘要
针对农业机器人在复杂作业环境(如田间垄沟、碎石路面等)中运动稳定性不足与负载平台姿态波动显著的技术难点,设计并优化一种基于摇臂式悬挂与曲柄滑块机构协同作用的四轮驱动移动底盘方案。通过建立底盘关键机构的运动学与静力学模型,系统分析并量化前车架长度(LF=200 mm)、悬挂系数(k1=0.9)及滑块位置系数(k2=0.5)等核心参数对底盘越障性能的影响规律。在此基础上,采用RecurDyn软件开展减速带型障碍环境下的运动仿真,并结合物理样机试验,全面验证该设计的合理性与工程有效性。结果表明:经优化后的底盘结构可稳定跨越高度达90 mm的标准减速带型障碍,同时将负载平台俯仰角波动幅度有效控制在±5°以内。在直线行走性能测试中,5 m行进距离内的轨迹偏差≤50 mm,并成功实现原地转向功能(即理论转向半径约为0 mm)。该创新设计通过摇臂悬挂与曲柄滑块机构的协同优化,显著提升农业机器人在复杂非结构化地形下的适应性与运动稳定性(包括抗侧倾能力和减震性能),为农业机器人移动底盘的工程化应用与推广提供重要的理论依据和技术支撑。
To address the issues of insufficient mobility stability in complex terrain and significant posture fluctuations of the load platform in agricultural robots,this study designed and optimized a four-wheel-drive mobile chassis based on a rocker-arm suspension and crank-slider mechanism.By establishing kinematic and static mechanics models,we systematically analyzed the influence patterns of front frame length(LF=200 mm),suspension coefficient(k1=0.9),and slider position coefficient(k2=0.5)on obstacle-crossing performance.The RecurDyn software was used to conduct motion simulation under the obstacle environment of speed bumps.When combined with physical prototype experiments,the rationality and engineering effectiveness of the design were comprehensively verified.Results demonstrate that the optimized chassis can stably traverse 90 mm-high speed bump-type obstacles with load platform pitch angle fluctuations controlled within±5°,achieve straight-line travel trajectory deviation≤50 mm over 5 m distance,and realize zero-radius steering(theoretical turning radius≈0).This innovative design significantly improves the adaptability and motion stability(including anti roll ability and shock absorption performance)of agricultural robots in complex and unstructured terrain through the collaborative optimization of rocker arm suspension and crank slider mechanism.This provides an important theoretical basis and technical support for the engineering application and promotion of agricultural robot mobile chassis.
作者
杨秀芳
吴忠林
姑丽排日·胡达拜迪
赵大旭
Farman Ali Chandio
Yang Xiufang;Wu Zhonglin;Guli Pai Ri Huda Baidi;Zhao Daxu;Farman Ali Chandio(Yangzhou Polytechnic Institute,Yangzhou,225127,China;Jiangsu Automotive Lightweight Engineering Technology Research Center,Yangzhou,225127,China;Kizilsu Vocational and Technical College,Atushi,845350,China;Zhejiang Agriculture and Forestry University,Hangzhou,311300,China;Sindh Agricultural University,Tandojam,70060,Pakistan)
出处
《中国农机化学报》
北大核心
2026年第1期133-139,共7页
Journal of Chinese Agricultural Mechanization
基金
浙江省重点研发项目(2019C02003)
江苏省青蓝工程优秀骨干教师项目(2022年)。
关键词
移动底盘
地形适应性
参数优化
差速转向
静力学分析
mobile chassis
terrain adaptability
parameter optimization
differential steering
static analysis
