排爆机器人越障机理及对爆炸物的动态响应分析

排爆机器人发现爆炸物后,需要将爆炸物运到排爆罐里进行引爆.这个过程机器人要夹着爆炸物跨越各种复杂的路面环境,比如跨台阶,壕沟,甚至上下楼梯等障碍,因而容易造成对机器人本体较大的冲击和振动,尤其是对爆炸物产生冲击和振动,严重时使爆炸物从手爪中脱落,掉到地上.对华南理工大学自主研制的履带式排爆机器人越障过程的机理进行分析,研究机器人越障时产生的冲击载荷及其爆炸物的动力学响应,以及其对手爪夹持力影响分析.这对于研究排爆机器人在复杂路面运动时其爆炸物的动力学特性具有重要指导意义.

Obstacles surmounting mechanism of explosive removal robot and explosive dynamic response analysis

After the explosive is being found by the explosive removing robot,it is necessary to let the explosive be carried to the exploder disposal pot to carry out detonation.During this course the robot has to clamp the explosive to surmount obstacle circumstances with various kinds of complicated rod surfaces,such as striding steps or trench and even more go up and down stairs,therefore it is easy to cause rather big impact and vibration on the main parts of the robot,especially to produce impact and vibration on the explosive and in the serious condition will let the explosive be fell off from the gripper and drop onto the ground.This paper carried out analysis on the mechanism of surmounting process of caterpillar explosive removing robot developed independently by South-China University of Science and Engineering.The impact load produced by robot while surmounting obstacles and the dynamics response of explosive were studied,and its effect on clamping force of gripper was analyzed.These possess important guiding significance to the study of dynamics characteristics of its explosive while the explosive removing robot is moving on the complicated road surfaces.