机构地区: 华南理工大学机械与汽车工程学院
出 处: 《华南理工大学学报(自然科学版)》 2007年第3期56-60,共5页
摘 要: 以华南理工大学自主研制的履带式排爆机器人为对象,研究排爆机器人在不平路面行走时对爆炸物所引起的冲击和振动,建立了排爆机器人终端机械臂的动力学模型,通过Matlab软件分析了爆炸物在不平路面激励下的振动特性及其对爆炸物稳定性的影响.仿真结果表明,行走速度是影响爆炸物稳定性的一个重要因素,当机器人在不平路面上行走时,其行走速度保持在0.8m/s以下较为安全. In this paper, a tracked explosive disposal robot developed by South China University of Technology was used as the object to investigate the impact and vibration of the explosive caused by the moving of the robot on uneven terrain. A dynamic model of the robot manipulator was then established. The dynamic characteristics and the stability of the explosive under the excitation of uneven terrain were finally analyzed by Matlab simulation. The resuits indicate that the moving speed of the robot greatly affects the stability of the grasped explosive and should be kept at 0.8m/s to ensure the safety when the robot moves on uneven terrain.
关 键 词: 排爆机器人 爆炸物 不平路面 动力学建模 振动
领 域: [自动化与计算机技术] [自动化与计算机技术]