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在分析传统虾形6轮机器人机械结构的基础上,结合实际作业要求提出一种新型虾形轮式隧道电缆巡线机器人.研究了新型机器人的机械结构设计及各主要组成部件的功能,并采用Admas与Matlab联合仿真技术搭建虚拟样机仿真实验平台,对机器人的平衡控制、斜坡行驶、跨越典型障碍等能力进行仿真分析.结果表明:机器人在保留传统虾形6轮机器人越障及环境适应能力的同时,还具有较强的自平衡控制能力,更适用于电缆隧道巡检作业环境,验证了该机器人机械结构及控制算法的合理性和可行性,为样机系统的进一步开发提供了技术参考.
Based on the analysis of mechanical structure of traditional six-wheeled shrimp robot, a new type of patrol robot for shrimp wheel tunnel cable is proposed according to the requirements of practical operation. The mechanical structure design of new robot and the function of each main component are studied. Admas and Matlab co-simulation technology to build the virtual prototyping simulation experiment platform to simulate the robot’s balance control, slope driving, crossing typical obstacles and so on.The results show that when the robot keeps the obstacle obstacle and environmental adaptability of traditional shrimp 6-wheel robots At the same time, it also has strong self-balancing control ability, and is more suitable for the inspection environment of cable tunnels. It verifies the rationality and feasibility of the robot’s mechanical structure and control algorithm and provides a technical reference for the further development of the prototype system.