王川伟;马宏伟;薛旭升;杨林;王岩;

• 1:西安科技大学机械工程学院
• 2:西安科技大学陕西省矿山机电装备智能监测重点实验室

摘要(Abstract)：

针对煤矿井下底板路面变化多样,履带巡检机器人行走机构行驶动态特性复杂,底板路面对履带行走机构响应较大,表征和模拟履带-底板路面相互作用的行驶特性较困难。特别是台阶型路面,履带行走装置在越障时其机身上仰姿态过高、落地时履带受到的冲击较大。基于履带地面力学理论,通过一定数量的经验常数确定煤矿底板路面参数,采用柔性体多体动力学的有限段模型方法建立履带行走机构虚拟样机模型,完成巡检机器人在水平底板路面及台阶型路面环境下的多体动力学仿真实验,其履带与地面的接触力、履带内部的轴套力及履带变形情况与机器人行驶、越障过程相一致,表明建模方法正确;同时得到巡检机器人在不同底板路面状况下,其滑转及滑移率也会随之发生变化,在水平底板路面其履带滑转率较小,但在越障过程中,履带理论速度与实际速度相差较大,特别是履带刚接触到障碍瞬间、以及机器人刚越过台阶型障碍瞬间可达0.78,研究结果可为履带巡检机器人在煤矿井下的智能控制提供理论依据。

关键词(KeyWords)： 履带巡检机器人;多体动力学;滑转率;行驶力学;建模仿真

Abstract:

Keywords:

基金项目(Foundation): 陕西省科技计划项目青年基金项目(2018JQ5116);; 道路施工技术与装备教育部重点实验室项目(300102259508);; 陕西省重点研发计划重点产业创新链项目(S2018-YF-ZDLGY-0011);; 煤矿机电设备智能检测与控制创新团队(2018TD-032)

作者(Author): 王川伟;马宏伟;薛旭升;杨林;王岩;

Email:

DOI: 10.13800/j.cnki.xakjdxxb.2020.0506

参考文献(References)：

• [1] 王国法,刘峰,庞义辉,等.煤矿智能化-煤炭工业高质量发展的核心技术支撑[J].煤炭学报,2019,44(2):5-13.WANG Guo-fa,LIU Feng,PANG Yi-hui,et al.Coal mine intellectualization:the core technology of high quality development[J].Journal of China Coal Society,2019,44(2):5-13.
• [2] 李军,李强,周靖凯,等.软土条件下履带-地面相互作用分析[J].兵工学报,2012,33(12):1423-1429.LI Jun,LI Qiang,ZHOU Jin-kai,et al.Analysis of track-terrain interaction on soft soil[J].Acta Armamentarii,2012,33(12):1423-1429.
• [3] 李瑞,张敏骏,王鹏江,等.基于局域栅格化的履带支护车自主导航方法研究[J].矿业科学学报,2020,5(4):423-434.LI Rui,ZHANG Min-jun,WANG Peng-jiang,et al.Research on autonomous navigation method for crawler support vehicle based on regional grid[J].Jornal of Mining Science and Technology,2020,5(4):423-434.
• [4] 杨林,马宏伟,王川伟,等.校园巡检机器人智能导航与控制[J].西安科技大学学报,2018,38(6):1013-1020.YANG Lin,MA Hong-wei,WANG Chuan-wei,et al.Intelligent navigation and control of campus inspection robot[J].Journal of Xi’an University of Science Technology,2018,38(6):1013-1020.
• [5] NICOLINI A,MOCERA F,SOMA A.Multibody simulation of a tracked vehicle with deform able ground contact model[J].Proceedings of the Institution of Mechanical Engineers,2019,233(1):152-162.
• [6] DAI Y,LIU S J,LI L.Dynamic analysis of the seafloor pilot miner based on single-body vehicle model and discretized track-terrain interaction model[J].China Ocean Engineering,2010,24(1):145-160.
• [7] JOSHUA T,COOK L E,RAY J H.Dynamics modeling and robotic-assist,leader-follower control of tractor convoys[J].Pergamon,2018,75:57-72.
• [8] SAAYAN B,BALAMURUGAN V,KRISHNAKUMAR R.Ride dynamics mathematical model for a single station representation of tracked vehicle[J].Journal of Terramechanics,2014,53:47-58.
• [9] 王川伟,马琨,杨林,等.四摆臂-六履带机器人单侧台阶障碍越障仿真与试验[J].农业工程学报,2018,34(10):46-53.WANG Chuan-wei,MA Kun,YANG Lin,et al.Simulation and experiment on obstacle-surmounting performance of four swing arms and six tracked robot under unilateral step environment[J].Transactions of the Chinese Society of Agricultural Engineering,2018,34(10):46-53.
• [10] 关卓怀,沐森林,吴崇友,等.履带式联合收获机水田作业转向运动学分析与试验[J].农业工程学报,2020,36(13):29-38.GUAN Zhuo-huai,MU Sen-lin,WU Chong-you,et al.Steering kinematic analysis and experiment of tracked combine harvester working in paddy field[J].Transactions of the Chinese Society of Agricultural Engineering,2020,36(13):29-38.
• [11] 卞永明,杨濛,刘宇超,等.履带式移动机器人轨迹跟踪控制技术研究[J].中国工程机械学报,2018,16(3):189-193,206.BIAN Yong-ming,YANG Meng,LIU Chao-yu,et al.Research on trajectory tracking control of a tracked mobile robot[J].Chinese Journal of Construction Machinery,2018,16(3):189-193,206.
• [12] OZOEMENA A A,UZOEJINWA B B,EZEAMA A O,et al.Overview of soil-machine interaction studies in soil bins[J].Journal of Terramechanics,2018,175:13-27.
• [13] SUNGHA B,GYUBEOM S,CHOONGKI C.Assessment of the side thrust for off-road tracked vehicles based on thepunching shear theory[J].Journal of Terramechanics,2018,79:59-68.
• [14] WONG J Y,JAYAKUMAR P,PRESTON-THOMAS J.Evaluation of the computer simulation model ntvpm for assessing military tracked vehicle cross-country mobility[J].Proceedings of the Institution of Mechanical Engineers,2019,233(5):1194-1213.
• [15] DU X B,ZHU H.Research on terrain classification of tracked robot based on time-frequency characteristics and PCA-SVM[J].Journal of Henan Polytechnic University(Natural Science),2019,38(2):84-90.
• [16] YANG C B,YANG G,LIU Z F,et al.A method for deducing pressure-sinkage of tracked vehicle in rough terrain considering moisture and sinkage speed[J].Journal of Terramechanics,2018,79:99-113.
• [17] 胡家铭,胡宇辉,陈慧岩,等.基于模型预测控制的无人驾驶履带车辆轨迹跟踪方法研究[J].兵工学报,2019,40(3):456-463.HU Jia-ming,HU Yu-hui,CHEN Hui-yan,et al.Research on trajectory tracking of unmanned tracked vehicles based on model predictive control[J].Acta Armamentarii,2019,40(3):456-463.
• [18] JOSHUA T C,LAURA E R,JAMES H L.Dynamics modeling and robotic-assist,leader-follower control of tractor convoys[J].Pergamon,2018,75:57-72.
• [19] DU PLESSIS H I M,YU T.Modelling the traction of a prototype track based on soil-rubber friction and adhesion[J].Journal of Terramechanics,2006,43(4):487-504.
• [20] GU J L,DING L,GAO H B,et al.Longitudinal skid model for wheels of planetary rovers based on improved wheel sinkage considering soil bulldozing effect[J].Journal of Terramechanics,2017,74:45-56.