Study On Design And Dynamic Of Straw-Checkerboard Barriers Paving Robot

Global warming and increasing drought, leads to strengthen of the desertification extent and the expansion of its scope around the world. In particular, desertification in China is very serious. Combat desertification is therefore an important long-term task. In a long time, biological methods were used in the course of combating desertification. But in the extreme drought desert, engineering method is an effective way to combat desertification. The straw- checkerboard barriers technology is a method that is summed up by people which can effectively prevent sand. It combines engineering method with biological method to combat desertification, and more scientific to solve the problem of desertification.Under severe conditions in the desert, paving straw-checkerboard barriers by man is high degree of labor, less efficient and high costs. Instead, paving straw-checkerboard barriers by mechanism is a reasonable choice. The project "Straw-checkerboard barriers paving robot" (national high-technology research and development plan the "863 Program" Item No. 2002AA422170) was come up on this background. In this paper based on this project, using advanced technology and multi-body system dynamics theory, the research on the straw- checkerboard barriers paving robot is carried out. By ADAMS software the robot is simulated. And all the experiment is done in the Inner Mongolia Sandi.This thesis introduces the forms and danger of desertification, and analyzes the features of all kinds of combating desertification techniques. It focuses on describing characteristics and techniques of straw-checkerboard barriers method.This thesis summarizes desert environment impact on work vehicles. The robot design requirements are presented, on the basis of this, the tractor WTC5210 is selected which adapts to the desert environment. And the main performance of the desert tractor is introduced.This thesis designs the longitudinal paving mechanism and the horizontal paving mechanism which can pave straw-checkerboard barriers, and describes their mechanical principle. This thesis also achieves the pneumatics system and hydraulic system design. With the 3D software of Pro/E, the robot solid model is established.Based on the theory of the multi-body system dynamics, by means of Roberson-Wittenburg method the robot kinematical and dynamical models are established, which lay the foundation for further simulation and control system modeling.Through the interface software, the Pro/E model of the robot is transmitted into the software ADAMS. After that the tyre file and road spectrum are written, the robot ADAMS model is established, the robot trafficability and ride comfort are simulated, and the simulation analysis of the insert mechanism and the shear mechanism is carried out. The experiment on the robot is carried out at the Hun shandake dene in the Inner Mongolia Autonomous Region. We have tested the robot trafficability, ride comfort, productivity, paving quality and so on. The results prove the robot meet the design need.