The Bionic Design And Dynamic Characteristics Analysis Of The Underground Digging Robot

The underground digging robot has been widely used in the construction of urban underground pipeline,outdoor exploring,post disaster search and rescue and other fields.The robot can greatly shorten the construction period,reduce risk and labor,thus it has great application prospects.In this paper,the structure and kinematics of the underground digging robot,the mechanical properties of the digging process and the bionic design method of the digging parts were analyzed and researched.Aiming at the shortcomings of the existing robots on the structure and function,a underground digging robot was designed which can dig,shovel and extrude at the same time,and characterized by flexible movement and high pore forming efficiency.The overall structure of the robot was designed to meet the requirements of the diameter of the hole,digging trajectory and displacement matching,and the main working parts were designed in detail.Based on the analysis of kinematics and dynamics,the structural parameters and dynamic parameters of the bucket mechanism were optimized,and the mechanical properties of the bucket were improved by bionic design and finite element analysis.The main work included in the dissertation is shown as follows:1.The motion trajectory,the order of motion and the displacement matching requirements of the actuator were studied.The feasibility of digging,shoveling and extruding was analyzed.On this basis,the overall scheme and main function module of the robot were designed.2.The process in kinematics was analyzed,and the motion trajectory and structural parameters of bucket mechanism,shovel mechanism and bulldozing mechanism were optimized using ADAMS virtual prototype technology.Digging,shoveling and extruding meet the requirements of displacement matching and can be linked up tightly when working as planed motion sequence.The smoothness of digging movement was verified through the analysis of speed and acceleration,and a basis for the subsequent dynamic analysis was provided.3.Based on the mathematical model of digging resistance,the influence of penetrating angle,velocity and digging depth on digging resistance was analyzed.Combined with the environment and requirements of the actual digging operation,the optimal cutting motion parameters of the bucket mechanism were determined.Under the condition of the optimal cutting motion parameters,combined with the analysis results of the velocity and acceleration of the bucket mechanism,the change rule of the digging resistance was analyzed,and the torque and output power of the driving motor were obtained.4.Bionics principle was applied for the bionic design of bucket,and the finite element model of the bucket mechanism was established.The dynamic analysis was carried out based on the ANSYS LS-DYNA.According to the results of the analysis,new structure design was proposed to improve the structure of the bucket mechanism,thus to improve mining efficiency,and ensure the parts to meet the strength requirements.