摘要
目的为疏通城市排污管道,对清淤机器人行走装置的变径弹簧系统进行研究,保证其清淤作业和运行的稳定性.方法对清淤机器人进行力学建模与仿真,建立行走机构在不同姿态下的静力学数学模型,运用MATLAB仿真软件研究弹簧刚度的可行区域;基于ADAMS软件研究动力学稳定性问题,并搭建稳定性实验平台进行验证.结果通过运动仿真获得了弹簧刚度系数的可行区域;通过动力学分析,获得了行走机构的径向摩擦力和轴向摩擦力大小;通过实验验证了弹簧刚度可行区域和仿真结果的正确性.结论在满足选取弹簧刚度系数可行区域情况下,径向摩擦力产生的总力矩大于电机的驱动力矩,不会产生侧滑现象;轴向摩擦力大于行走机构所能承受的最大负载,可以实现管道机器人的行走清淤作业要求,动态性能稳定.
In order to dredge the city′s sewage pipeline,the variable-diameter spring system of the dredging robot′s walking device is studied to ensure the stability of dredging operation.The static mathematical model of different attitude walking mechanisms was established for the dredging robot.The feasible region of spring stiffness is studied by MATLAB simulation software.Based on ADAMS software,the dynamic stability test is constructed.A feasible area of the spring coefficient is obtained by motion simulation.Through the kinetic analysis,the radial friction and axial friction of the operating mechanism are obtained.The correctness of the feasible region of spring stiffness are verified by experiments.In the case of a feasible region satisfying the spring stiffness coefficient,when the total torque generated by the radial friction force is greater than the driving torque of the motor,and no side slip phenomenon occurs;the axial friction force is greater than the maximum load that the traveling mechanism can withstand,and it can be realized stability requirements of dredging operation for the dredging robot.
作者
罗继曼
郭松涛
印辉
刘泽明
LUO Jiman;GUO Songtao;YIN Hui;LIU Zeming(School of Mechanical Engineering,Shenyang Jianzhu University,Shenyang,China,110168)
出处
《沈阳建筑大学学报（自然科学版）》
CAS
CSCD
北大核心
2020年第6期1128-1136,共9页
Journal of Shenyang Jianzhu University：Natural Science
基金
国家自然科学基金项目(51575365)
辽宁省自然科学基金项目(201602620)。
关键词
管道清淤机器人
动力特性
稳定性
仿真分析
dredging robot
dynamic characteristics
stability
simulation analysis
