Simulation and optimization of crawler chassis of idler replacement robot
In order to meet the needs of idler replacement robot operating on complex road surface and narrow long-distance roadway in coal mine,a crawler chassis with attitude adjustment mechanism was designed,and the mechanical performance analysis and key component optimization for the chassis were conducted based on the terrain characteristics of coal mine.Firstly,the dynamics model of the crawler walking mechanism was established by the multi-body dynamics simulation software RecurDyn,and six classical working conditions were simulated and analyzed.The rationality of the structure design of the crawler walking mechanism was verified by comparing the simulated and theoretical values of the tensioning force and driving torque of crawler.Then,the statics analysis for the attitude adjustment mechanism was conducted in the ANSYS Workbench software,and the topology optimization of its key components was carried out to improve material utilization and reduce weight.Finally,the stability of the crawler chassis was tested by conducting robot driving tests.The results showed that the maximum stress and mass of the transverse platform of the optimized attitude adjustment mechanism were reduced by 13.71 MPa and 36.92%,respectively.The robot could drive stably under different road conditions,and its attitude adjustment mechanism could work normally.The research results can provide reference for the driving performance optimization of crawler coal mine electromechanical equipment under complex working conditions.
crawler chassismulti-body dynamics simulationtopology optimizationtensioning force of crawlerdriving torque
万方数据
维普
