地空两用农业信息采集机器人行走机构仿真
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摘要
为了保证地空两用农业信息采集机器人在农田中行走时具有良好的稳定性和较强的环境适应性,建立了轮胎-土壤力学模型,针对其静止和行走两种状态添加了不同的载荷,并利用有限元仿真分析原理对不同载荷下的模型进行了求解,分别得到轮胎和土壤的应力、位移和应变的值。建立了行走机构前悬架模型,并对模型施加了一个正弦激励,对其轮胎定位参数进行了动力学仿真分析,得到了各轮胎定位参数的变化量。结果表明:采用双横臂独立式悬架结构,不但提高了机器人的环境适应性,使其行走时轮胎不会陷入土壤中,而且遇到冲击载荷时保证了机器人的轮胎定位参数在合理范围内,使其具备良好的行走稳定性,为地空两用机器人的研究提供可靠的依据。
The tire-soil mechanics model is established to ensure the good stability and strong environmental adaptability of the air-round amphibious agricultural information collection robot during its walking in farmland. Different loads were added to the stationary and walking states. The models of different loads were solved by the finite element simulation analysis theory,through which,the values of stress and strain were obtained respectively. Walking mechanism front suspension model was established,and a sinusoidal excitation was applied to it. The dynamic simulation analysis was carried out on the tire positioning parameters,and the variations of the tire positioning parameters were obtained. Results showed that double wishbone independent suspension not only improved the environmental adaptability of the robot and made robot's tires not fall into the soil,but also ensured the stability of the robot when encountering impact load and made it have walking stability. It provides reliable basis for the research of the air-ground robot.
The tire-soil mechanics model is established to ensure the good stability and strong environmental adaptability of the air-round amphibious agricultural information collection robot during its walking in farmland. Different loads were added to the stationary and walking states. The models of different loads were solved by the finite element simulation analysis theory,through which,the values of stress and strain were obtained respectively. Walking mechanism front suspension model was established,and a sinusoidal excitation was applied to it. The dynamic simulation analysis was carried out on the tire positioning parameters,and the variations of the tire positioning parameters were obtained. Results showed that double wishbone independent suspension not only improved the environmental adaptability of the robot and made robot's tires not fall into the soil,but also ensured the stability of the robot when encountering impact load and made it have walking stability. It provides reliable basis for the research of the air-ground robot.
引文
[1]薛雪.车辆轮胎与土壤接触变形的有限元分析[D].杨凌:西北农林科技大学,2016.
[2]伦佳琪.基于轮胎沉陷量的轮胎与土壤接触试验及有限元分析[D].杨凌:西北农林科技大学,2016.
[3]黄杰文,黄菊花.利用ADAMS/car对双横臂悬架的动态仿真与分析[J].现代制造工程,2010(3):127-131.
[4]王行,阳林,彭仁杰.基于ADAMS的FSAE赛车前悬架优化设计[J].广东工业大学学报,2013(3):105-108.
[5]李军,邢俊文,覃文洁,等.ADAMS实例教程[M].北京:北京理工大学出版社,2002.
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[8]陈军.MSC.ADAMS技术与工程分析实例[M].北京:中国水利水电出版社,2008.
[9]夏长高,高晓辰.基于ADAMS/car的双横臂运动学和弹性运动学分析[J].机械设计与制造,2010(7):58-60.
[10]张承海.基于虚拟样机的多连杆悬架系统运动学仿真研究[D].武汉:武汉理工大学,2008.
[11]陈超祥,胡其登.Solid Works Simultion基础教程[M].北京:机械工业出版社,2014.
[2]伦佳琪.基于轮胎沉陷量的轮胎与土壤接触试验及有限元分析[D].杨凌:西北农林科技大学,2016.
[3]黄杰文,黄菊花.利用ADAMS/car对双横臂悬架的动态仿真与分析[J].现代制造工程,2010(3):127-131.
[4]王行,阳林,彭仁杰.基于ADAMS的FSAE赛车前悬架优化设计[J].广东工业大学学报,2013(3):105-108.
[5]李军,邢俊文,覃文洁,等.ADAMS实例教程[M].北京:北京理工大学出版社,2002.
[6]陈锋华.ADAMS2012虚拟样机技术从入门到精通[M].北京:清华大学出版社,2013.
[7]惠有利.汽车构造[M].北京:北京理工大学出版社,2016.
[8]陈军.MSC.ADAMS技术与工程分析实例[M].北京:中国水利水电出版社,2008.
[9]夏长高,高晓辰.基于ADAMS/car的双横臂运动学和弹性运动学分析[J].机械设计与制造,2010(7):58-60.
[10]张承海.基于虚拟样机的多连杆悬架系统运动学仿真研究[D].武汉:武汉理工大学,2008.
[11]陈超祥,胡其登.Solid Works Simultion基础教程[M].北京:机械工业出版社,2014.