Comprehensive simulation method of spherical robot based on solidworks and adams environment

Abstract

The invention provides a comprehensive simulation method for a spherical robot based on SolidWorks and ADAMS environment. The comprehensive simulation method can accurately reflect the stability of the robot during walking and provide a reference for selecting a motor of a robot prototype, and can further provide relevant important parameters for PID control and the like of the prototype. A whole SolidWorks amphibious spherical robot model, a simplified amphibious spherical robot model based on ADAMS, a dynamics amphibious spherical robot model based on ADAMS and a mechanics amphibious spherical robot model based on ADAMS are involved in the comprehensive simulation method.

Description

technical field [0001] The invention belongs to the technical field of underwater autonomous vehicles, and relates to a spherical robot comprehensive simulation method based on SolidWorks and ADAMS environment. Background technique [0002] As an integration of high-tech instruments and equipment, underwater autonomous vehicles / robots have broad application prospects and great potential value in military, civilian, scientific research and other fields. When the underwater robot is used to complete different tasks, its shape, size, movement mode, etc. have different requirements. If the impact on the surrounding environment is considered, there will also be certain restrictions on the driving method of the underwater robot. In recent decades, the development of large and medium-sized underwater robots (meter level, decimeter level) with streamlined shape structure and traditional propeller drive has reached the level of practicality. However, with the continuous expansion o...

AI Technical Summary

Problems solved by technology

[0006] (1) Existing underwater autonomous vehicles / robots mostly adopt a streamlined shape structure and propeller propulsion, and their one-way movement speed is relatively high, but due to their large size and large turning radius, it is impossible to realize underwater narrow and complex environments (such as coral reefs). , pipes, rock cracks, etc.) flexible movement and precision operations

At the same time, its huge shape and power system cause great disturbance to the environment during operation, so it is not suitable for high concealment and bio-affinity applications, such as military investigation, biological sample collection, environmental monitoring, etc.

[0007] (2) The existing spherical underwater robots take advantage of the advantages of the spherical structure to a certain extent, but their mobility and flexibility are still quite limited, and they have not effectively solved the problem of working in narrow and complex underwater environments

[0008] (3) The shape of the existing spherical underwater robots is generally large, and can only realize underwater propeller propulsion, and cannot work in shallow water, swamps, tidal flats and other near-water environments, and its range of activities and survivability are limited

[0009] (4) Although the existing spherical robot can realize amphibious movement, due to manual assembly, the production accuracy is poor, and some components are prone to looseness during the walking process, which leads to the weakening of the stability of the robot

[0010] (5) Existing robots have a long production cycle, high design costs, and stability that cannot meet specific requirements. At present, there are few studies on robot motion modeling and mechanical simulation based on the ADAMS simulation environment, and they cannot accurately reflect mechanical properties.

[0011] In view of the above problems, the amphibious spherical robot based on 3D printing proposed by the present invention, due to its unique structure, uses the traditional method of building a robot using a mechanical model, not only the design cycle is long, the cost is high, the amount of calculation in the design process is huge, and it is intuitive Poor sex

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