Design and Dynamics Analysis of Synchronous Mobile Steering Mechanism of Dodge Robot

Meng Zheng; Heng Li; Hangfei Ren; Hongyong Zhang; Junqiang Xue; Yongle Zhang; Wanying Yan

doi:10.16578/j.issn.1004.2539.2021.03.012

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Design and Dynamics Analysis of Synchronous Mobile Steering Mechanism of Dodge Robot

Design· Calculation | 更新时间：2022-11-10

- Design and Dynamics Analysis of Synchronous Mobile Steering Mechanism of Dodge Robot
- Journal of Mechanical Transmission Vol. 45, Issue 3, Pages: 69-74(2021)
- 作者机构：
  
  1.西安理工大学机械与精密仪器工程学院，陕西西安 710048
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.03.012
  CLC：
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郑勐,李恒,任航飞等.躲闪机器人同步移动转向机构设计及动力学分析[J].机械传动,2021,45(03):69-74.

Zheng Meng,Li Heng,Ren Hangfei,et al.Design and Dynamics Analysis of Synchronous Mobile Steering Mechanism of Dodge Robot[J].Journal of Mechanical Transmission,2021,45(03):69-74.
郑勐,李恒,任航飞等.躲闪机器人同步移动转向机构设计及动力学分析[J].机械传动,2021,45(03):69-74. DOI： 10.16578/j.issn.1004.2539.2021.03.012.

Zheng Meng,Li Heng,Ren Hangfei,et al.Design and Dynamics Analysis of Synchronous Mobile Steering Mechanism of Dodge Robot[J].Journal of Mechanical Transmission,2021,45(03):69-74. DOI： 10.16578/j.issn.1004.2539.2021.03.012.

摘要

针对目前市场上现有的机器人移动机构驱动多、控制繁琐、稳定性差的现象，研究了一款拥有平面内全方位快速移动功能的躲闪机器人同步移动转向机构。采用驱动电机和转向电机相互配合的方式实现全方位移动，为了检验移动机构模型建立的合理性，采用拉格朗日方程完成移动机构的动力学分析；并采用Adams软件完成移动机构虚拟样机的仿真模拟，得到相关转矩曲线；最后，完成了移动机构的实验测试。通过理论计算、仿真模拟、实验测试三者之间的相互验证，检验了躲闪机器人移动机构模型建立的准确性。

Abstract

In view of the fact that the existing robotic mobile mechanisms on the market are driven more， the control is cumbersome， and the stability is poor， a synchronous movement steering mechanism for dodge robots with all-round rapid movement in the plane is studied. The driving motor and the steering motor cooperate to achieve all-round movement. In order to check the rationality of the establishment of the moving mechanism model， the Lagrangian equation is used to complete the dynamics analysis of the moving mechanism. The Adams software is used to complete the simulation of the virtual prototype of the mobile mechanism， and the relevant torque curves are obtained. Finally， the experimental test of the moving mechanism is completed. Through theoretical calculations， simulations， and experimental tests， the mutual verification between the three has further verified the accuracy of the establishment of the dodge robot mobile mechanism model.

关键词

快速移动移动机构动力学分析Adams

Keywords

Move fastMobile mechanismDynamics analysisAdams

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