Research On The Vibration System Of The Straw-checkerboards Barriers Paving Robot

This research is supported by the National "863" Project which entitled "Research on straw-checkerboards barriers paving robot".Desertification has influenced the environment and economy of human society seriously. The related researches have great significance due to the damage of desertification.The status, tendency, damage and related cure technology of desertification, importance and significance of the present work were introduced. The straw-checkerboards barriers paving robot has its own characteristical structure, but it has some similarities to the common vehicles. The general situation of the recent research on the vibration system of the vehicle was summarized with the aim of providing some useful information for the research of robot vibration system.The straw-checkerboards barriers paving robot is consisted as follows: tractor, longitudinal paving system, carrying system and the lateral paving system. The vibration source of the straw-checkerboards barriers paving robot and their influence were systematically investigated. The vertical vibration of the robot was focused. The structure of the robot was analyzed with multi-body dynamic theory and the basic theory of mechanical vibration. Six-degree-of -freedom dynamic model was established. Mathematical model of the vibration system described by the second Lagrange Equation was established. In addition, R-K method and the Matlab software was used for vibration characteristics analysis. The exactness of the obtained mathematical model was confirmed by field experimental.The result of the present work will provide some reference and experience for similar research.