光电技术应用, 2019, 34 (6): 64, 网络出版: 2019-12-08
野外环境下移动平台动力学仿真研究
Research on Dynamic Simulation of Mobile Platform in Field
移动平台 野外复杂路面 虚拟样机模型 越障 mobile platform complex road surface in the field ADAMS automatic dynamic analysis of mechanical systems ( virtual prototype model obstacle surmounting
摘要
针对野外复杂路面对轮腿复合式移动平台的运动性能和越障性能的需求, 应用ADAMS软件建立了移动平台的简化虚拟样机模型, 并在各个关节处添加对应约束、驱动力以及扭杆弹簧, 并建立仿真环境。通过动力学仿真分析, 观察移动平台车轮及扭杆弹簧的加速度、垂向力以及位移变化等因素, 验证了该移动平台对野外复杂路面的适应能力以及越障能力。
Abstract
In view of the requirements of the movement and obstacle surmounting performances of the wheel leg composite mobile platform on complex road surface in the field, the simplified virtual prototype model of the mobile platform is established by using automatic dynamic analysis of mechanical systems (ADAMS) software. The corresponding constraints, driving forces and torsion bar springs are added at each joint, and the simulation environment is established. Through the dynamic simulation analysis, the acceleration, vertical force and displacement various of the wheel and torsion bar spring of the mobile platform are observed, and the adaptability and obstacle surmounting ability of the mobile platform on the complex road in the field are verified.
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