计及打滑的履带式核电机器人转向性能分析

摘要

在基于打滑条件下,履带式机器人两侧履带均匀接地时的转向运动学与动力学研究基础上,推导了在相间分布的外履齿接地时牵引力与转向阻力矩的计算公式,分析了质心偏移的影响,并给出了打滑条件下履带式机器人的转向条件,最后探讨了原地转向时,机器人转向比对滑转率的影响.结果表明:外履齿接地与履带均匀接地时的牵引力和转向阻力矩相同;打滑条件下满足转向条件的转向比范围增大;原地转向时,两侧履带的滑转率随着转向比的增大而增大.%Based on the kinematics and dynamics of a tracked robot under skid condition when its tracks on both sides contact ground evenly,the formulas of traction force and steering resistance moment were derived when the outer grousers contact the ground,and the influence of mass center shift was analyzed.Then the steering condition of the tracked robot under skid condition was obtained.The influence of the steering rate on the skid ratio of pivot steering was discussed.The discussion results show that:the traction force and steering resistance moment are the same when the outer grousers are grounded and the tracks are evenly grounded,the steering rate range that satisfies the steering condition under skid condition increases,the skid ratios on both sides increase with increasing steering ratio when the tracked robot turns.