Parametric analysis of traction energy of an autonomous wheeled robotic system for application in greenhouse environment

IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL Journal of Terramechanics Pub Date : 2023-01-01 DOI:10.1016/j.jterra.2022.10.002
S.M. Shafaei , H. Mousazadeh
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温室环境下自主轮式机器人系统牵引能量参数分析
本应用研究的新目的是深入了解在温室环境中进行搬运,喷洒和收获任务的自主轮式机器人系统的牵引能量方面。确定了轮式机器人的牵引能量指标(牵引能量消耗、牵引能量耗散和牵引力能量)受机器人前进速度(0.17、0.33和0.5 m/s)、载荷重量(1、2、3、4和5 kN)和轮胎气压(20.68、34.47和55.16 kPa)等运行变量的影响。分析结果表明,与载荷重量相比,机器人前进速度对牵引能量指标的有意义贡献是微不足道的(<40倍)。这表明,有效载荷的调整应作为机器人系统性能优化的首要考虑因素。同时,建模结果表明,载荷重量和机器人前进速度对牵引能量指标的组合影响是协同的。结果表明,牵引能量消耗(145-19-873.41 J/m2)、牵引能量耗散(9.01-292.85 J/m2)和牵引杆拉力能量(140.17-864.85 J/m2)与载荷重量和机器人前进速度的同步增量呈线性增长关系。上述振幅揭示了5.77 - 33.78%的牵引能量消耗是由机器人系统的车轮耗散的。综上所述,这些结果对牵引-拖车轮式机器人的节能设计和性能优化具有一定的指导意义,该机器人不仅可以在温室环境中工作,还可以在任何具有混凝土平面的结构环境中工作。
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来源期刊
Journal of Terramechanics
Journal of Terramechanics 工程技术-工程:环境
CiteScore
5.90
自引率
8.30%
发文量
33
审稿时长
15.3 weeks
期刊介绍: The Journal of Terramechanics is primarily devoted to scientific articles concerned with research, design, and equipment utilization in the field of terramechanics. The Journal of Terramechanics is the leading international journal serving the multidisciplinary global off-road vehicle and soil working machinery industries, and related user community, governmental agencies and universities. The Journal of Terramechanics provides a forum for those involved in research, development, design, innovation, testing, application and utilization of off-road vehicles and soil working machinery, and their sub-systems and components. The Journal presents a cross-section of technical papers, reviews, comments and discussions, and serves as a medium for recording recent progress in the field.
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