油罐清洗机器人运动倾覆稳定性分析与仿真

周利坤; 付贵永

doi:10.13433/j.cnki.1003-8728.2015.0409

油罐清洗机器人运动倾覆稳定性分析与仿真

doi: 10.13433/j.cnki.1003-8728.2015.0409

周利坤¹,
付贵永²

1.
武警后勤学院军交运输系, 天津 300162;
2.
武警杭州士官学校车辆维修系, 杭州 310023

基金项目:

陕西省重点学科建设专项资金项目（102-00x903）资助

详细信息

作者简介:
周利坤（1970-），副教授，博士，硕士生导师，研究方向为油库站建设、机器人设计等，172548703@qq.com

计量
- 文章访问数: 145
- HTML全文浏览量: 22
- PDF下载量: 9
- 被引次数: 0
出版历程
- 收稿日期: 2013-05-19
- 刊出日期: 2015-04-05

Analysis and Simulation of Tumble Stability of Oil Tank Cleaning Robot

Zhou Likun¹,
Fu Guiyong²

1.
Logistics College of CAPF, Department of Military Traffic & Transportation, Tianjin 300162;
2.
Department of Vehicle Maintenance, Hangzhou Noncommissioned Officer Academy of CAPF, Hangzhou 310023

摘要

摘要: 油罐清洗机器人是一种针对油罐罐底油泥实施自动化清洗而研发的特殊机器人。在分析其罐底工作环境及工作流程的基础上，运用动态能量稳定锥方法分析了罐壁和罐底：“盲区”油泥清洗的工作稳定性。通过ADAMS环境下的仿真实验，该机器人运动速度在v=0.5 m/s 以内时，机器人不发生倾覆，在机体倾斜角度Ø=30°时，脉冲水射流出口速度宜控制在u=100 m/s以内，保证机器人倾覆稳定性，实现油罐“盲区”油泥清洗。仿真结果与该机器人设计参数基本相符，能够实现对油罐罐底油泥的清洗。
- 油罐清洗机器人 /
- 运动学 /
- 倾覆稳定性 /
- 仿真分析
Abstract: An oil tank cleaning robot is a special device for implementing the automatic cleaning of the sludge on the bottom of an oil tank. After analyzing the working environments and processes of the oil tank, a dynamic energy stability pyramid was adopted to analyze the cleaning stability of the oil tank wall and the blind spots of sludge on the oil tank bottom. The simulation was carried out with the ADAMS. The cleaning robot can guarantee its tumble stability when its robot velocity is within. When the angle of inclination of the cleaning robot is 30 degrees and the velocity of the nozzle pulsed with water jet is not greater than 100 m/s, the cleaning robot is stable. The simulation results are in conformity with the basic design parameters of a cleaning robot and reveal that the cleaning robot can effectively clean oil tank bottom sludge.
- kinematics /
- oil tank cleaning robot /
- simulation and analysis /
- tumble stability

HTML全文

参考文献(12)

[1]	梅红,王勇.轮式移动机器人的动力学建模及跟踪控制[J].机床与液压,2009,37(9):127-129 Mei H, Wang Y. Dynamic modeling and tracking control for wheeled mobile robots[J]. Machine Tool & Hydraulics,2009,37(9):127-129 (in Chinese)
[2]	朱磊磊,陈军.轮式移动机器人研究综述[J].机床与液压,2009,37(8):242-247 Zhu L L, Chen J. A review of wheeled mobile robots[J]. Machine Tool & Hydraulics,2009,37(8):242-247 (in Chinese)
[3]	刘金国,王越超,李斌,等.变形机器人倾翻稳定性仿真分析[J].系统仿真学报,2006,18(2): 409-415 Liu J G, Wang Y C, Li B, et al. Simulation analysis of shape shifting robot's tipover stability [J]. Journal of System Simulation,2006,18(2):409-415 (in Chinese)
[4]	McGhee R, Frank A. On the stability properties of quadruped creeping gaits[J]. Mathematical Biosciences,1968,3(3):331-351
[5]	McGhee R, Iswandhi G I. Adaptive locomotion for a multi legged robot over rough terrain[J]. IEEE Trans. on Systems, Man, and Cybernetics,1979,9(4):176-182
[6]	Song S M, Waldron K J. Machines that walk: adaptive suspension vehicle [M]. MIT Press,1989,Cambridge,MA
[7]	Orin D E. Interactive control of a six-legged vehicle with optimization of both stability and energy [D]. The Ohio State University,1976
[8]	Vukobratovic M, Frank A, Juricic D. On the stability of biped locomotion [J]. IEEE Trans Biomed Eng BME,1970,17(1):25-36
[9]	Lin B S, Song S M. Dynamic modeling, stability and energy efficiency of a quadrupedal walking machine[C]//IEEE Conference on Robotics and Automation,Atlanta,Georgia,1993,8(5):367-373
[10]	田海波,方宗德,周勇,等.轮腿式机器人倾覆稳定性分析与仿真[J].系统仿真学报,2009,21(13):4032-4037 TianH B, Fang Z D, Zhou Y, et al. Analysis and simulation for wheel-legged robot tumble stability[J]. Journal of System Simulation,2009,21(13):4032-4037 (in Chinese)
[11]	赵涛,刘明雍,周良荣.基于Lyapunov方法的轮式移动机器人全局轨迹跟踪控制[J].火力指挥与控制,2010,35(7):87-89 Zhao T, Liu M Y, Zhou L Y. Lyapunov based global trajectory tracking control for wheeled mobile robot[J]. Fire Control & Command Control,2010,35(7),87-89 (in Chinese)
[12]	李春香,何宏鹰,钟碧良.油罐清洗系统移动机构的研究[J]. 石油化工高等学报,2006,19(2):64-66 Li C X, He H Y, Zhong B L. Study on the traveling mechanism of the oilcan cleaning system[J]. Journal of Petrochemical Universities,2006,19(2):64-66 (in Chinese)