军事医学2018，Vol.42Issue(1)：21-25,5.DOI:10.7644/j.issn.1674-9960.2018.01.006
救援机器人单纵臂式悬架设计与仿真
Principle design and simulation of a single longitudinal-arm suspension of a rescue robot
摘要
Abstract
Objective Modern warfare is geographically complex and changeable.The lack of terrain adaptability restricts the popularization and application of rescue robots in the frontline war.To solve this problem,this paper designs a new longitudinal-arm suspension mechanism,and carries out principle analysis and simulation optimization.Methods The automatic dynamic analysis of the mechanical system(ADAMS)was used to establish the virtual suspension model. According to the condition of rescue robot parameters, appropriate constraints and objective functions were set up to optimize the length of the suspension rod and spring stiffness coefficient.Results The suspension structure parameters were optimized by experimental simulation.The single longitudinal-arm suspension could convert the small stroke of the helical spring shock absorber into the large stroke of the tire movement according to the comparison of the experimental data. Conclusion The research and design of single longitudinal-arm suspension are of great significance to develop its physical prototype and to select the helical spring shock absorber,playing an important role in promoting the development of the small wheeled rescue robot.关键词
救援作业/机器人/单纵臂式悬架/仿真优化/结构参数/软件设计Key words
rescue work/robotics/a single longitudinal-arm suspension/simulation optimization/structure parameters/software design分类
信息技术与安全科学引用本文复制引用
张世月,赵新华,苏卫华,李彬,吴航,陈卓..救援机器人单纵臂式悬架设计与仿真[J].军事医学,2018,42(1):21-25,5.基金项目
天津市科技支撑计划重点资助项目(16YFZCSF00590) （16YFZCSF00590）
