基于支重轮-履带-地面多体耦合的履带机器人振动响应研究OA北大核心CSTPCD

The construction of supporting wheel-track-ground multi-body coupling system is an important link for the travelling smoothness study of tracked robots.Taking the unilateral five-supporting wheel tracked robot as the study object,the theoretical estimation model for tracked robot vibration was established on the basis of the nonlinear suspension system model and the road excitation considering the track filtering effect.Then,based on the simulation experiments of the tracked robot under working conditons with different road levels and different driving speeds,the effects of driving speed and road excitation on the vertical vibration of the robot body and its supporting wheels were quantitatively analyzed by the root mean square value.Finally,the theoretical vibration estimation model and dynamics simulation model of the seven-degree-of-freedom semi-vehicle were verified by external road experiments.The results showed that the vertical vibration of the tracked robot body increased linearly with the increase of driving speed and road roughness,and the track had a filtering effect on the road excitation.The vertical vibration acceleration of the tracked robot body centroid and the supporting wheel 1,3,5 were most sensitive to the road excitation,and the power spectral density amplitude of the vertical vibration acceleration of the robot body was the largest when the frequency was about 19 Hz.As the supporting wheel 5 was close to the driving section,the polygonal effect generated by the track engaging with the active wheel made its vertical vibration larger than that of the other supporting wheels.The combination of theoretical modeling,simulation analysis and external experiment provides a new idea for the study of vibration response characteristics of tracked robots under different road conditions.