基于惯容器-弹簧-阻尼悬架的履带机器人平顺性仿真分析

为探究ISD悬架作为履带机器人悬架方案的应用价值,以某履带机器人方案为例,建立了采用ISD悬架的1/2移动平台8自由度模型,进行力学分析得到了系统运动微分方程,以计算机模拟的路面随机激励时域模型作为输入,利用MATLAB/Simulink建立履带机器人动力学模型,考虑履带承重轮之间地面输入的迟滞性,将路面不平度和履带机器人行驶速度相结合对模型进行仿真。结果表明：采用ISD悬架的履带机器人方案相对于采用传统被动悬架的方案,质心垂向加速度和俯仰角加速度均有明显减小,即行驶平顺性得到了改善,可见ISD悬架的应用可以提高履带机器人的行驶平顺性。

Analysis of The Riding Comfort of Tracked Robot Based on Inerter-spring-damper Suspension

In order to explore the application value of the interter-spring-damper suspension as a tracked robot suspension scheme, a tracked robot scheme is taken as an example to establish a 1/2 mobile platform 8 degree of freedom model using interter-spring-damper suspension. The mechanical differential equation is obtained by mechanical analysis. Taking the computer simulated road surface random excitation time domain model as input, the MATLAB/Simulink is used to establish the dynamic model of the tracked robot. Considering the hysteresis of the ground input between the track bearing wheels, the road roughness and the tracked robot driving speed are combined to carry out the simulation of the model. The results show that the tracked robot scheme using interter-spring-damper suspension has a significant reduction in the centroid vertical acceleration and picth angular acceleration compared with the conventional passive suspension scheme, that is , the ride comfort is improvedand. It can be seen that the application of the interter-spring-damper suspension can improve the ride comfort of the tracked robot.