| 双履带式巡检机器人翻越圆边凸台的滑移稳定性分析 |
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| 引用本文： | 刘昌福,邹树梁,王湘江,赵芳,刘君琰.双履带式巡检机器人翻越圆边凸台的滑移稳定性分析[J].南华大学学报(自然科学版),2017,31(3):45-50. |
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| 作者姓名： | 刘昌福 邹树梁 王湘江 赵芳 刘君琰 |
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| 作者单位： | 南华大学 机械工程学院,湖南 衡阳 421001;南华大学核设施应急安全作业技术与 装备湖南省重点实验室,湖南 衡阳 421001,南华大学核设施应急安全作业技术与 装备湖南省重点实验室,湖南 衡阳 421001,南华大学 机械工程学院,湖南 衡阳 421001;南华大学核设施应急安全作业技术与 装备湖南省重点实验室,湖南 衡阳 421001,南华大学 机械工程学院,湖南 衡阳 421001;南华大学核设施应急安全作业技术与 装备湖南省重点实验室,湖南 衡阳 421001,南华大学 机械工程学院,湖南 衡阳 421001;南华大学核设施应急安全作业技术与 装备湖南省重点实验室,湖南 衡阳 421001 |
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| 基金项目： | 核设施退役和核泄漏安全处理技术及装备研发(02072012KIT01) |
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| 摘 要： | 重点针对工厂的圆边凸台障碍,规划了双履带式巡检机器人翻越圆边凸台的越障动作.将机器人翻越障碍过程视为准静态过程,从静力学角度建立了三个关键阶段的稳定性分析模型,并通过数值模拟仿真分析,得到了机器人翻越过程中的等效支撑力和等效摩擦力与机器人角度之间的关系,为双履带式巡检机器人翻越圆边凸台提供了稳定性分析依据.
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| 关 键 词： | 双履带式巡检机器人 圆边凸台 越障动作 滑移稳定性 |
| 收稿时间： | 2017/6/9 0:00:00 |
Analysis of Slippage Stability for Double-track-inspection Robot Climbing the Round Edge Convex Platform |
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| LIU Chang-fu,ZOU Shu-liang,WANG Xiang-jiang,ZHAO Fang and LIU Jun-yan.Analysis of Slippage Stability for Double-track-inspection Robot Climbing the Round Edge Convex Platform[J].Journal of Nanhua University:Science and Technology,2017,31(3):45-50. |
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| Authors: | LIU Chang-fu ZOU Shu-liang WANG Xiang-jiang ZHAO Fang and LIU Jun-yan |
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| Institution: | School of Mechanical Engineering,University of South China,Hengyang,Hunan 421001,China;Hunan Provincial Key Laboratory of Emergency Safety Technology and Equipment for Nuclear Facilities Hunan,Hengyang,Hunan 421001,China,Hunan Provincial Key Laboratory of Emergency Safety Technology and Equipment for Nuclear Facilities Hunan,Hengyang,Hunan 421001,China,School of Mechanical Engineering,University of South China,Hengyang,Hunan 421001,China;Hunan Provincial Key Laboratory of Emergency Safety Technology and Equipment for Nuclear Facilities Hunan,Hengyang,Hunan 421001,China,School of Mechanical Engineering,University of South China,Hengyang,Hunan 421001,China;Hunan Provincial Key Laboratory of Emergency Safety Technology and Equipment for Nuclear Facilities Hunan,Hengyang,Hunan 421001,China and School of Mechanical Engineering,University of South China,Hengyang,Hunan 421001,China;Hunan Provincial Key Laboratory of Emergency Safety Technology and Equipment for Nuclear Facilities Hunan,Hengyang,Hunan 421001,China |
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| Abstract: | This paper focuses on the obstacle of the round edge convex platform in the factory,and plan the obstacle movement of the double-track-inspection robot over the round edge convex platform.The process of the robot through the obstacle is regarded as quasi-static process.From the perspective of static mechanics,three key stages of stability analysis model are established.Through numerical simulation,it obtained a relation between equivalent support force,epuivaleuce friction force and the elevation angle of robot,and a theoretical basis for slippage stability of Double-track-inspection robot climbing the round-edge step is provided. |
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| Keywords: | Double-track inspection robot the Round edge convex platform obstacle posture slippage stability |
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