Mobile Robot On The Ground Transient Characteristic Analysis And Simulation

Based on the actual research of the multifunctional ground migration robot, the article studies and analyses the transient characteristics of mobile robots in exceptional circumstances by simulation technology.1. Based on the multi-rigid-body system dynamics, we created a system dynamics equation of ground migration robot. Combined with the needs of the research's content, I have finished the three dimensional solid modeling of mobile robot parts with the application of modeling software Pro/E, and have created a virtual prototype model of robots.2. Applying the interface module MECH/Pro between Pro/E and ADAMS/View, we have studied the technical links and setting methods of ground migration robot's three dimensional solid modeling in the transfer process of the interface module MECH/Pro, succeed in the migration robot's three dimensional solid modeling's transfer to ADAMS/View through the interface module MECH/Pro.3. Under the condition of ADAMS/View, quality, materials, and the the link and binding of moving parts, initial conditions of virtual prototype model of ground migration robot were set. Emphasizing on the simulation, analysis, and study of transient dynamics characteristics of mobile robot system in typical working condition, the vibration and response curve of. key parts in the transient system were acquired. Through the analysis and research of simulation curves, the impact of transient vibration and response to the key factor was got. The test, analysis, and study focused on these factors were carried out, and the relationship between system vibration and affecting factors, and each parameter's specific impact to the situation system were got.4. On the basis of the simulation analysis, we do FEM reseach and analysis on the key components of ground robots. Through FEM analysis, we found the problems existing in the structural design, and brought up the corresponding improvement suggestions.