全地形移动机器人越障通过性能分析
Analysis of Climbing Obstacle Trafficability on the All-terrain Mobile Robot
刘一凡 1姚景源 1董自旺 1赵子硕1
作者信息
- 1. 河南工学院 车辆与交通工程学院,河南 新乡 453003
- 折叠
摘要
为研究全地形移动机器人的地面通过性,采用理论分析和ADAMS软件仿真分析的方法对机器人进行了通过性分析.分别分析了轮廓通过性、悬起通过性、越过垂直障碍失去通过性的条件和越过壕沟失去通过性的条件,得到了全地形移动机器人悬起失效、越过垂直障碍和跨越壕沟的极限尺寸,全地形移动机器人越障碍过程中障碍物倾角和越障高度对电机输出力矩的影响关系,以及软质土壤对全地形移动机器人性能的影响.
Abstract
In order to study the ground passability of all-terrain mobile robots,the passability of the robots is analyzed by means of theory analysis and ADAMS software simulation analysis.The conditions of contour pas-sability,suspension passability,loss of passability over vertical obstacles and loss of passability over trenches are analyzed.The limiting dimensions of the all-terrain mobile robot are obtained for suspension failure,vertical ob-stacle crossing and ditch crossing,and the influence of obstacle inclination angle and obstacle height on motor output torque of all-terrain mobile robot is obtained.The influence of soft soil on the performance of the all-ter-rain mobile robot is also obtained.
关键词
全地形移动机器人/越障/独立悬架/通过性能Key words
all-terrain mobile robot/obstacle crossing/independent suspension/passability引用本文复制引用
出版年
2024
NETL
NSTL
万方数据