Journal of System Simulation
Abstract
Abstract: To evaluate quantitatively the dynamic locomotion characteristics and obstacle performance of the wheeled traction robot in horizontal well with single pipe diameter, the mechanical model of the crawling module of the wheeled traction robot is established and the structural and size parameters are optimized. The ADAMS model of the current robot is presented, and the Simulink models of three parts of the driving module, supporting mechanism and traction resistance are built. A specified method of the ADAMS/Simulink joint simulation modeling is proposed to analyze the locomotion characteristics and obstacle performance of the wheeled traction robot. The simulation results quantitatively show that the dynamic locomotion characteristics of this current robot in horizontal well is improved and meets the requirements of overcoming the obstacles. The simulating calculation results are coincident approximately with the theoretical calculation results.
Recommended Citation
Wei, Wu; Bo, Li; Liu, Nana; and Ma, Guangzhi
(2020)
"Optimization Design and Locomotion Characteristics Analysis of Wheeled Traction Robot,"
Journal of System Simulation: Vol. 32:
Iss.
5, Article 19.
DOI: 10.16182/j.issn1004731x.joss.18-0631
Available at:
https://dc-china-simulation.researchcommons.org/journal/vol32/iss5/19
First Page
918
Revised Date
2019-03-06
DOI Link
https://doi.org/10.16182/j.issn1004731x.joss.18-0631
Last Page
926
CLC
TP391.9
Recommended Citation
Wu Wei, Li Bo, Liu Nana, Ma Guangzhi. Optimization Design and Locomotion Characteristics Analysis of Wheeled Traction Robot[J]. Journal of System Simulation, 2020, 32(5): 918-926.
DOI
10.16182/j.issn1004731x.joss.18-0631
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Artificial Intelligence and Robotics Commons, Computer Engineering Commons, Numerical Analysis and Scientific Computing Commons, Operations Research, Systems Engineering and Industrial Engineering Commons, Systems Science Commons