期刊论文

中文

南华大学学报(自然科学版)

1673-0062

2017

31

3

45-50

10.19431/j.cnki.1673-0062.2017.03.009

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）；

本校为第一机构

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.

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 D...