摘要
针对野外复杂路面对轮腿复合式移动平台的运动性能和越障性能的需求,应用ADAMS软件建立了移动平台的简化虚拟样机模型,并在各个关节处添加对应约束、驱动力以及扭杆弹簧,并建立仿真环境。通过动力学仿真分析,观察移动平台车轮及扭杆弹簧的加速度、垂向力以及位移变化等因素,验证了该移动平台对野外复杂路面的适应能力以及越障能力。
In view of the requirements of the movement and obstacle surmounting performances of the wheel leg composite mobile platform on complex road surface in the field,the simplified virtual prototype model of the mobile platform is established by using automatic dynamic analysis of mechanical systems(ADAMS)software.The corresponding constraints,driving forces and torsion bar springs are added at each joint,and the simulation environment is established.Through the dynamic simulation analysis,the acceleration,vertical force and displacement various of the wheel and torsion bar spring of the mobile platform are observed,and the adaptability and obstacle surmounting ability of the mobile platform on the complex road in the field are verified.
作者
李艳杰
郭继录
刘玉梅
卜春光
眭晋
王家楠
LI Yan-jie;GUO Ji-lu;LIU Yu-mei;BU Chun-guang;SUI Jin;WANG Jia-nan(School of Mechanical Engineering,Shenyang Ligong University,Shenyang 110159,China;Shenyang Institute of Automation,Institute for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110016,China;Taizhou Xiangda Fire Service Implement Co.Ltd.,Taizhou 225300,China)
出处
《光电技术应用》
2019年第6期64-68,78,共6页
Electro-Optic Technology Application
基金
国家重点研发计划“主动防控型警用机器人关键技术研究与应用示范”重点专项(2017YFC0806504)
关键词
移动平台
野外复杂路面
ADAMS
虚拟样机模型
越障
mobile platform
complex road surface in the field
automatic dynamic analysis of mechanical systems(ADAMS)
virtual prototype model
obstacle surmounting
