| With the rapid development of computer technology,virtual prototyping technology has been widely used.Especially in the development and design of mechanical products,using virtual prototyping technology,designers can find potential problems in product design through mechanical system motion simulation,and quickly modify them,reducing the dependence on physical prototyping.This can not only save costs,shorten product development cycle,but also improve product performance and enhance product competitiveness.In this paper,virtual prototyping technology is used to develop and design the key mechanism of special robots.The main work is as follows:(1)The kinematics and virtual prototyping simulation theory of special robots are studied.The description method of pose,coordinate transformation method,D-H parameter method and multi-body dynamics theory of virtual prototyping are studied in depth.(2)The actuator of special robots are studied.The kinematics equations of the links of the actuators are established.The workspace of the actuators and the forces acting on the joints are studied by simulation of kinematics and dynamics.(3)The crawler walking mechanism of special robot is studied.The dynamic theory of the walking mechanism is analyzed,and the virtual prototype model of the robot is established.In this paper,simulation analysis is carried out for three working conditions of straight,steering and climbing on flat road,and the stability of tracked walking mechanism is studied.The above research shows that virtual prototyping technology can quickly and conveniently predict the movement and stress of key mechanisms of special robots with high accuracy.The designed actuator and walking mechanism of special robots can meet the operation requirements and have high structural stability.The simulation results of the virtual prototype provide a basis for selecting the power components of the key mechanism of the special robot,which is of great practical value. |
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