轮式牵引机器人优化设计及运动特性分析

doi:10.16182/j.issn1004731x.joss.18-0631

系统仿真学报 ›› 2020, Vol. 32 ›› Issue (5): 918-926.doi: 10.16182/j.issn1004731x.joss.18-0631

• 仿真模型/系统置信度评估技术 • 上一篇下一篇

轮式牵引机器人优化设计及运动特性分析

吴伟, 李博^*, 刘娜娜, 马广志

西安石油大学,机械工程学院,陕西西安 710065

收稿日期:2018-09-19 修回日期:2019-03-06 出版日期:2020-05-18 发布日期:2020-05-15
作者简介:吴伟(1962-),男,山东淄博,博士,教授,研究方向为智能控制与故障诊断;李博(1984-),男,陕西洛南,博士,讲师,研究方向为机械设备状态监测与故障诊断。

Optimization Design and Locomotion Characteristics Analysis of Wheeled Traction Robot

Wu Wei, Li Bo^*, Liu Nana, Ma Guangzhi

School of Mechanical Engineering, Xi'an Shiyou University, Xi'an 710065, China

Received:2018-09-19 Revised:2019-03-06 Online:2020-05-18 Published:2020-05-15

摘要/Abstract

摘要： 为定量评价轮式牵引机器人在同一管径水平井内的动态运动特性与越障性能,建立了轮式牵引机器人爬行模块的受力模型,优化了结构及尺寸参数,实现了机器人ADAMS整体建模,并构建了对象机器人驱动机构、支撑机构及牵引阻力的Simulink控制模型。提出了轮式牵引机器人的ADAMS/Simulink联合仿真建模方法,进行了对象机器人运动特性及越障性能仿真分析。仿真结果表明结构优化后提高了该型机器人在水平井内的动态运动特性,验证了其较好的越障能力,且仿真计算与理论分析结果基本一致。

关键词: 轮式牵引机器人, 优化设计, ADAMS/Simulink联合仿真, 运动特性

Abstract: To evaluate quantitatively the dynamic locomotion characteristics and obstacle performance of the wheeled traction robot in horizontal well with single pipe diameter, the mechanical model of the crawling module of the wheeled traction robot is established and the structural and size parameters are optimized. The ADAMS model of the current robot is presented, and the Simulink models of three parts of the driving module, supporting mechanism and traction resistance are built. A specified method of the ADAMS/Simulink joint simulation modeling is proposed to analyze the locomotion characteristics and obstacle performance of the wheeled traction robot. The simulation results quantitatively show that the dynamic locomotion characteristics of this current robot in horizontal well is improved and meets the requirements of overcoming the obstacles. The simulating calculation results are coincident approximately with the theoretical calculation results.

Key words: wheeled traction robot, optimization design, ADAMS/Simulink combined simulation, locomotion characteristics

中图分类号:

TP391.9

吴伟, 李博, 刘娜娜, 马广志. 轮式牵引机器人优化设计及运动特性分析[J]. 系统仿真学报, 2020, 32(5): 918-926.

Wu Wei, Li Bo, Liu Nana, Ma Guangzhi. Optimization Design and Locomotion Characteristics Analysis of Wheeled Traction Robot[J]. Journal of System Simulation, 2020, 32(5): 918-926.

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轮式牵引机器人优化设计及运动特性分析

Optimization Design and Locomotion Characteristics Analysis of Wheeled Traction Robot

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