Research On Straight-line Driving And Obstacle Performance Of Anti-radiation Crawler Excavator

To meet the needs of mechanical engineering R & D in the course of decommissioning of nuclear facilities, this project team developed a new type of the anti-radiation crawler excavator, which could work normally in the nuclear radiation environment. Because of the complex terrain in the nuclear facilities decommission area, the anti-radiation crawler excavator is expected to have excellent performance in straight driving, stability, motion reliability, obstacle crossing and avoidance. The walking system of the anti-radiation crawler excavator was taken as the research object, adopting the theoretical analysis, numerical simulation and experimental verification. As a result, a deep study of the straight driving and obstacle crossing of the anti-radiation crawler excavator was developed.The design solution of the anti-radiation crawler excavator was briefly introduced, which indicated that the anti-radiation crawler excavator was designed based on the SWE210 excavator; the influence of centroid shifting on the ground pressure of anti-radiation crawler excavator was analyzed, and a theoretical analysis and compute of the driving resistance、traction and linear deviation was developed; through theoretical analysis of the anti-radiation crawler excavator which crossing two kind of obstacles, the maximum height of climbing the stairs of the excavator that we got is 551 millimeters and the maximum length of crossing the trench of it is 1625 millimeters.Based on the modeling theory for dynamics of multi-body systems, the virtual prototype model of the anti-radiation crawler excavator was built by employing Pro/E and Recur Dyn, then the dynamical model of the straight driving, shining step, spanning groove and mixed terrain obstacle crossing were constructed by defining different condition models.The straight driving of the anti-radiation crawler excavator has been simulated, so we got the ground pressure、driving resistance、traction and linear deviation rules of the corresponding prototype; the linear deviation experiment of the original has been developed, by disposing the experimental data, we got the linear deviation rule of the original one. Experimental results are in line with the simulation results, so we could judge that the original virtual prototype model and the anti-radiation crawler excavator virtual prototype model are all right.Based on the right virtual prototype model of the anti-radiation crawler excavator, through changing the mass-center location and the velocity of the model, in order to simulate working condition of climbing the stairs and crossing the trench, then we got the influence rules of the mass-center excursion and driving speed on traveling obstacle of the anti-radiation crawler excavator; then the simulations of the virtual prototype walk of extreme condition(climbing 551 mm high stair and crossing 1625 mm long trench successfully) and the terrain, including stair and trench were conducted, the results of simulations indicate that anti-radiation crawler excavator has a good performance in obstacle crossing.This paper mainly study straight-line driving and ability of obstacle crossing of the anti-radiation crawler excavator, and the results not only indicate that this kind of anti-radiation crawler excavator possesses an excellent crossing performance, but also provide a theoretical basis for the reliability analysis and structure optimization of the further walking system.