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根据移动机器人运行的地形条件,综合考虑爬越障碍、地形适应、主体平稳等因素,提出新型6轮导杆联动式悬架.介绍了悬架的组成和工作原理,建立了主体在路面上运行时车轮、地面与悬架组成的机构学模型,并从自由度计算的角度分析了悬架的地形适应性.运用Pro/E软件建立悬架参数化模型,并导入Pro/Mechanism中进行了单轮、双轮提升车体平稳性仿真试验,测出前、中、后轮高度独立和共同变化时车体的欧拉角;然后在ADAMS中仿真了悬架在综合地形下的通过性;最后利用初选参数制成物理样机,并用样机进行了爬坡、越障性能试验.测试结果表明:基于该悬架的移动机器人地形适应性强,各轮载荷分配均匀,能够爬越350 mm的垂直障碍.
According to the terrain conditions of the mobile robot and considering factors such as climbing obstacle, topography adaptability and main body stability, a new 6-wheel guide-linkage suspension is proposed. The composition and working principle of the suspension are introduced and the main body is set up to run on the road And the mechanical model composed of the wheel, the ground and the suspension is analyzed, and the terrain adaptability of the suspension is analyzed from the perspective of degree of freedom calculation. The parametric model of the suspension is established by Pro / E software and imported into Pro / Mechanism. Wheel, two-wheeled vehicle body to enhance the stability of the simulation test to measure the front, middle and rear wheels highly independent and common changes Euler angle body; and then simulated in the ADAMS Suspension under the comprehensive terrain of the passage; finally The physical prototype was made by using the primary parameters, and the hill climbing and obstacle obstacle performance test was carried out by using the prototype.The test results show that the mobile robot based on the suspension has good terrain adaptability, uniform loading of each wheel and can climb 350 mm vertical obstacle.