【摘要】 履带式机器人具有负载能力大、越障能力强等特点,被广泛应用于巡检探测、应急救援等领域。它在行走过程中底盘结构力学稳定性,将直接影响机载探测器、传感器等的工作性能。针对此,建立动力学理论模型和路谱函数,利用动力学分析软件ADAMS建立履带式机器人底盘的虚拟样机模型,并结合路谱函数,对不同路况下的底盘动力学特性进行仿真分析。分析得出不同速度下的振动加速度曲线,进而为机载设备安装布置和性能预测提供参考。更多还原

【Abstract】 Crawler robots with large load capacity, strong barrier capability and other characteristics, is widely used in inspection and detection, emergency rescue and other fields. The mechanical stability of the chassis structure during walking will directly affect the performance of airborne detectors, sensors and the like. In view of this, the kinetic theory model and the road spectrum function were established, the virtual prototype model of the crawler robot chassis was established by using the dynamic analysis software ADAMS,the chassis dynamics performance was simulated under different road conditions by combining with the road spectrum function.The vibration acceleration curves at different speeds were obtained and compared with the experimental results.It provides reference for the installation and performance prediction of airborne equipment.更多还原