摘要
为适应轨道交通系统设备多、复杂多变的环境,提出了一种适用于轨道交通领域的巡检移动平台。它具有两足,能够两足交替抬离地面实现类似步行的步态。进行了巡检移动平台的结构设计、运动学分析以及稳定性分析,为平台设计提供了理论支撑。在多体动力学仿真软件中建立该两足巡检移动平台的虚拟样机模型,进行了步行仿真。在此基础上,制作了1台样机,实现了期望的移动。该巡检移动平台结构设计灵巧,控制简单,具有一定的实用价值。
A mobile platform that can be used in the inspection field of rail transit is proposed,in order to adapt to the multi-equipment,complex and changeable environment.It has two feet,which can be lifted off and touch the ground alternately to achieve a gait similar to walk.The structure design,kinematics analysis and stability analysis of the mobile platform are carried out,which provide theoretical support for the design of the platform.A virtual prototype of the mobile platform is modeled in ADAMS,and a simulation is carried out.On this basis,a prototype is made to realize the desired gait similar to walk.The mobile platform has a certain practical value,which has a smart structure design,and is easy to control.
作者
王曦鸣
周虎
Wang Ximing;Zhou Hu(Hunan Vocational College of Science and Technology,Changsha 410004,China;Changsha Metro Group Co Ltd,Changsha 410019,China)
出处
《湖南文理学院学报（自然科学版）》
CAS
2021年第1期64-68,共5页
Journal of Hunan University of Arts and Science(Science and Technology)
基金
湖南省教育厅科学研究项目(18C1430)。
关键词
轨道交通
巡检
移动平台
研究与设计
rail transit
inspection
mobile platform
study and design
