基于ADAMS宏命令的薄煤层工作面巡检机器人建模与仿真

摘要

In order to realize the crawler inspection robot virtual simulation and the actual motion consistent , simulation model of each track is established using ADAMS software with macro instruction .The bushing stress , contact stress between each track segments and the solver simulation parameters were set reasonablely .The obstacle crossing process of the inspection robot was virtual simulated and gotten the motor driving torque variation rule .Finally the obstacle crossing performance of inspection robot experimental prototype is tested, that the design of inspection robot obstacle performance indicators have reaches the design requirements .%为了实现履带式巡检机器人虚拟仿真和实际运动情况相符合,在ADAMS软件中用宏指令建立了各条履带的仿真模型,并对履带块间的衬套力、 接触力及求解器等参数进行了合理设置,对巡检机器人越障过程进行了虚拟仿真,得到了电机驱动力矩变化规律,最后对巡检机器人试验样机进行了越障性能试验,所设计的巡检机器人越障性能指标达到了设计要求.