Dynamic Approach To Walking Mechanism Of Cable-free Type Dredging Robot

This dissertation mainly studys of the dynamics simulation of the cable free dredging robot walking mechanism.It also verified the driving wheel and the track plate's strength and stiffness.The main contents are as follows:By using UG software,it establishes the assembly model of unilateral dredging robot walking mechanism,and verifies if the level of interference is within standard,and if the drawing and the three-dimensional model is correct.By basing on the actual operating conditions and Track Traveling Theory,it calculates the traction and traveling resistance of the dredging robot,analyzes the contact condition between the drive wheels and the track plate,theoretical calculates,then take a appropriate pitch,provides data for dynamic simulation in future approach.By using the ADAMS software,it established a walking mechanism model.Using macro command,to put restriction,contact force,and external load on the driving wheel,tract plate and the ground.After simulation study of the crawler walk mechanism,make it moving forward and back horizontally,this dissertation deduces the curve of center of mass of the driving wheel speed and its accelerated speed,as well as the pitch curve of driving wheel and the walking mechanism,which under the working condition of moving forward and back horizontally.With ADAMS software to get a simulation curve,imports it into the MATLAB software to generate the force data.It provides convenient to the finite element analysis of the driving wheel and track plate.By using parasolid format of UG software,this dissertation imports it into ANSYS for finite element analysis.Verify the driving wheel strength in the process of driving wheel strength checking,when the crawler travel mechanism moving forward and backward.And then remove the maximum force point track board strength of analyzing.Finally,it verifies the strength of the contact situation of track plate and the ground.By dynamic approach to walking mechanism of cable-free type dredging robot,this thesis provides the foundation to the design process of crawler walking mechanism,it also provides a basis for the simulation of the dynamics of other crawler,at the same time,it has more practical significance in reducing product manufacturing costs,shortening design time.