防风固沙草方格铺设机器人设计及动力学分析
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摘要
全球性的气候变暖和日益干旱，导致全世界范围荒漠化程度的加强和范围的扩大，尤其对我国这样一个沙漠化本已十分严重的国家更是如此。因此防治沙漠化是我国一项长期的重要工作。长期以来，生物治沙在沙漠化防治过程中占主导地位，而在干旱的沙漠地区，工程治沙是有效的治沙手段。沙漠中铺设草方格技术是我国人民在长期治沙工作中总结出来的行之有效地防风固沙方法，它把工程治沙和生物治沙相结合，更科学地解决沙漠化治理问题。
在沙漠和沙地的恶劣条件下人工铺设草方格，劳动程度大，效率低，成本高。由机械代替人工铺设草方格就成为一种合理的选择。“防风固沙草方格铺设机器人”(国家高技术研究发展计划“863计划”，项目号2002AA422170)的研究就是在这样的背景下提出的，本文以此项目为依托，运用先进的设计技术和多体系统动力学理论开展对草方格铺设机器人的研究，并用ADAMS软件对机器人进行了仿真，在内蒙古浑善达克沙地进行了试验。
本文介绍了沙漠化的形式和危害，分析了各种防沙技术的特点，重点介绍了草方格治沙法以及草方格的铺设工艺和特点。
总结了沙漠环境对作业机械的影响。结合草方格铺设要求，提出了草方格机器人的设计要求，在此基础上选择了适应沙漠环境下作业的牵引车——WTC5210沙漠车，并介绍了它的主要性能。
设计了实现草方格纵向草铺设功能的纵向机构和横向草铺设的横向机构，阐述其机械原理，并完成了实现动力和控制功能的气动系统和液压系统设计。用机械系统三维设计软件PRO／E建立了草方格铺设机器人实体模型。
在简述多体系统动力学理论的基础上，用罗伯森—维滕堡(Roberson-Wittenburg)方法对草方格机器人的结构进行了分析，建立了草方格机器人的运动学和动力学数学模型，为草方格机器人的进一步仿真和控制系统建模建立基础。
把草方格机器人的Pro／E模型通过接口软件导入功能强大的多体系统动力学分析软件ADAMS，编写了轮胎文件和地面文件，建立了草方格机器人的ADAMS模型，进行了机器人的平顺性、通过性以及剪切机构和插草机构的仿真分析。
在内蒙古浑善达克沙地进行了草方格铺设机器人试验，对机器人的通过性、平顺性、生产率、铺设质量进行了测试，得出了草方格铺设机器人基本满足设计要求的结论。
Global warming and increasing drought, leads to strengthen of the desertification extent and the expansion of its scope around the world. In particular, desertification in China is very serious. Combat desertification is therefore an important long-term task. In a long time, biological methods were used in the course of combating desertification. But in the extreme drought desert, engineering method is an effective way to combat desertification. The straw- checkerboard barriers technology is a method that is summed up by people which can effectively prevent sand. It combines engineering method with biological method to combat desertification, and more scientific to solve the problem of desertification.
Under severe conditions in the desert, paving straw-checkerboard barriers by man is high degree of labor, less efficient and high costs. Instead, paving straw-checkerboard barriers by mechanism is a reasonable choice. The project "Straw-checkerboard barriers paving robot" (national high-technology research and development plan the "863 Program" Item No. 2002AA422170) was come up on this background. In this paper based on this project, using advanced technology and multi-body system dynamics theory, the research on the straw- checkerboard barriers paving robot is carried out. By ADAMS software the robot is simulated. And all the experiment is done in the Inner Mongolia Sandi.
This thesis introduces the forms and danger of desertification, and analyzes the features of all kinds of combating desertification techniques. It focuses on describing characteristics and techniques of straw-checkerboard barriers method.
This thesis summarizes desert environment impact on work vehicles. The robot design requirements are presented, on the basis of this, the tractor WTC5210 is selected which adapts to the desert environment. And the main performance of the desert tractor is introduced.
This thesis designs the longitudinal paving mechanism and the horizontal paving mechanism which can pave straw-checkerboard barriers, and describes their mechanical principle. This thesis also achieves the pneumatics system and hydraulic system design. With the 3D software of Pro/E, the robot solid model is established.
Based on the theory of the multi-body system dynamics, by means of Roberson-Wittenburg method the robot kinematical and dynamical models are established, which lay the foundation for further simulation and control system modeling.
Through the interface software, the Pro/E model of the robot is transmitted into the software ADAMS. After that the tyre file and road spectrum are written, the robot ADAMS model is established, the robot trafficability and ride comfort are simulated, and the simulation analysis of the insert mechanism and the shear mechanism is carried out.
The experiment on the robot is carried out at the Hun shandake dene in the Inner Mongolia Autonomous Region. We have tested the robot trafficability, ride comfort, productivity, paving quality and so on. The results prove the robot meet the design need.
在沙漠和沙地的恶劣条件下人工铺设草方格，劳动程度大，效率低，成本高。由机械代替人工铺设草方格就成为一种合理的选择。“防风固沙草方格铺设机器人”(国家高技术研究发展计划“863计划”，项目号2002AA422170)的研究就是在这样的背景下提出的，本文以此项目为依托，运用先进的设计技术和多体系统动力学理论开展对草方格铺设机器人的研究，并用ADAMS软件对机器人进行了仿真，在内蒙古浑善达克沙地进行了试验。
本文介绍了沙漠化的形式和危害，分析了各种防沙技术的特点，重点介绍了草方格治沙法以及草方格的铺设工艺和特点。
总结了沙漠环境对作业机械的影响。结合草方格铺设要求，提出了草方格机器人的设计要求，在此基础上选择了适应沙漠环境下作业的牵引车——WTC5210沙漠车，并介绍了它的主要性能。
设计了实现草方格纵向草铺设功能的纵向机构和横向草铺设的横向机构，阐述其机械原理，并完成了实现动力和控制功能的气动系统和液压系统设计。用机械系统三维设计软件PRO／E建立了草方格铺设机器人实体模型。
在简述多体系统动力学理论的基础上，用罗伯森—维滕堡(Roberson-Wittenburg)方法对草方格机器人的结构进行了分析，建立了草方格机器人的运动学和动力学数学模型，为草方格机器人的进一步仿真和控制系统建模建立基础。
把草方格机器人的Pro／E模型通过接口软件导入功能强大的多体系统动力学分析软件ADAMS，编写了轮胎文件和地面文件，建立了草方格机器人的ADAMS模型，进行了机器人的平顺性、通过性以及剪切机构和插草机构的仿真分析。
在内蒙古浑善达克沙地进行了草方格铺设机器人试验，对机器人的通过性、平顺性、生产率、铺设质量进行了测试，得出了草方格铺设机器人基本满足设计要求的结论。
Global warming and increasing drought, leads to strengthen of the desertification extent and the expansion of its scope around the world. In particular, desertification in China is very serious. Combat desertification is therefore an important long-term task. In a long time, biological methods were used in the course of combating desertification. But in the extreme drought desert, engineering method is an effective way to combat desertification. The straw- checkerboard barriers technology is a method that is summed up by people which can effectively prevent sand. It combines engineering method with biological method to combat desertification, and more scientific to solve the problem of desertification.
Under severe conditions in the desert, paving straw-checkerboard barriers by man is high degree of labor, less efficient and high costs. Instead, paving straw-checkerboard barriers by mechanism is a reasonable choice. The project "Straw-checkerboard barriers paving robot" (national high-technology research and development plan the "863 Program" Item No. 2002AA422170) was come up on this background. In this paper based on this project, using advanced technology and multi-body system dynamics theory, the research on the straw- checkerboard barriers paving robot is carried out. By ADAMS software the robot is simulated. And all the experiment is done in the Inner Mongolia Sandi.
This thesis introduces the forms and danger of desertification, and analyzes the features of all kinds of combating desertification techniques. It focuses on describing characteristics and techniques of straw-checkerboard barriers method.
This thesis summarizes desert environment impact on work vehicles. The robot design requirements are presented, on the basis of this, the tractor WTC5210 is selected which adapts to the desert environment. And the main performance of the desert tractor is introduced.
This thesis designs the longitudinal paving mechanism and the horizontal paving mechanism which can pave straw-checkerboard barriers, and describes their mechanical principle. This thesis also achieves the pneumatics system and hydraulic system design. With the 3D software of Pro/E, the robot solid model is established.
Based on the theory of the multi-body system dynamics, by means of Roberson-Wittenburg method the robot kinematical and dynamical models are established, which lay the foundation for further simulation and control system modeling.
Through the interface software, the Pro/E model of the robot is transmitted into the software ADAMS. After that the tyre file and road spectrum are written, the robot ADAMS model is established, the robot trafficability and ride comfort are simulated, and the simulation analysis of the insert mechanism and the shear mechanism is carried out.
The experiment on the robot is carried out at the Hun shandake dene in the Inner Mongolia Autonomous Region. We have tested the robot trafficability, ride comfort, productivity, paving quality and so on. The results prove the robot meet the design need.
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