SIA OpenIR  > 水下机器人研究室
Alternative TitleSteering Dynamic Modelling and Analysis of a Benthic Small-Scale Tracked Robot
张运修1,2,3; 张奇峰1; 杨宝林1,2,4; 张艾群1
Source Publication海洋技术学报
Contribution Rank1
Funding Organization国家重点研发计划资助项目(2017YFC0306402)
Keyword深海小型履带式机器人 动力学建模 转向性能 动力学仿真 通过性预测


Other Abstract

In order to predict the skid steering performance of a small-scale tracked robot which is applied in complex seabed environment, the robot model of kinematics and dynamics is established, considering the influence of steering centrifugal force, the slipping of track-contact-ground, and the buoyancy and resistance in water. The benthic soil parameters and the robot structure parameters are brought into the established dynamic model for iterative solution, and then the factors affecting the kinematic performance of the robot are analyzed under different benthic environments. Taking the deep -sea small tracked robot as the research object, the dynamic model is constructed in the dynamic simulation software Recurdyn. The data obtained through the dynamic simulation have high consistency with the theoretical calculation data. Finally, the correctness of the dynamic simulation is verified by the pool test comparison. The proposed steady-state dynamic model of benthic small -scale tracked robot can be used as a theoretical basis for the passability prediction under different mechanical structural parameters and benthic soil conditions.

Document Type期刊论文
Corresponding Author张运修
Recommended Citation
GB/T 7714
张运修,张奇峰,杨宝林,等. 深海小型履带式机器人转向动力学建模与分析[J]. 海洋技术学报,2020,39(2):22-31.
APA 张运修,张奇峰,杨宝林,&张艾群.(2020).深海小型履带式机器人转向动力学建模与分析.海洋技术学报,39(2),22-31.
MLA 张运修,et al."深海小型履带式机器人转向动力学建模与分析".海洋技术学报 39.2(2020):22-31.
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