摘要
针对老年人爬楼难的问题,提出了一种能够快速攀爬楼梯的新型气动驱动机器人设计方案。采用SolidWorks三维软件对机器人结构进行了设计,基于Patran软件对汽缸承重板进行了力学性能分析,利用AMESim软件对机器人的抬升和下降机构进行了运动仿真研究。制作了实物样机,试验测试结果表明:机器人模型样机尺寸为780 mm×730 mm×500mm,整体框架采用6060铝合金,车身质量20 kg,机器人爬楼所需时间约为1.09 s,与理论分析结果相吻合。机器人在抬升和下降的模式下具有良好的移动性能,能够满足安全快速越障的需求,为后续气动越障机器人的研究提供了借鉴。
In order to solve the problem that it is difficult for the elderly to climb stairs,a new type of pneumatic driven robot is proposed.The structure of the robot is designed by SolidWorks 3 D software.The mechanical properties of the bearing plate of the cylinder are analyzed by Patran software.The lifting and lowering mechanism of the robot is simulated by AMESim software.The experimental results show that the size of the prototype is 780 mm×730 mm×500 mm,the overall frame is made of6060 aluminum alloy,the body weight is 20 kg,and the climbing time of the robot is about 1.09 s,which is consistent with the theoretical analysis results.The robot has good mobile performance in the lifting and descending mode,which can meet the needs of safe and fast obstacle crossing,and provides a reference for the follow-up research of pneumatic obstacle crossing robot.
作者
赵浩宇
李红双
岳思博
ZHAO Hao-yu;LI Hong-shuang;YUE Si-bo(School of Mechatronics Enineering,Shenyang Aerospace University,Shenyang 110136)
出处
《机械设计》
CSCD
北大核心
2021年第S01期50-52,共3页
Journal of Machine Design
基金
国家级大学生创新创业训练计划项目(202010143011)
关键词
越障机器人
仿真分析
试验测试
obstacle surmounting robot
simulation analysis
testing
作者简介
赵浩宇(2000-),男,本科在读,研究方向:机械工程。E-mail:zhy1366160976@163.com
