Optimization Design and Locomotion Characteristics Analysis of Wheeled Traction Robot

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

Abstract

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

CLC Number:

TP391.9

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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