防風(fēng)固沙草方格鋪設(shè)機(jī)器人設(shè)計(jì)及動(dòng)力學(xué)分析.pdf

1、東北林業(yè)大學(xué)博士學(xué)位論文防風(fēng)固沙草方格鋪設(shè)機(jī)器人設(shè)計(jì)及動(dòng)力學(xué)分析姓名：舒慶申請(qǐng)學(xué)位級(jí)別：博士專業(yè)：森林工程指導(dǎo)教師：劉晉浩20070601GlobalwarmingandincreasingdroughtleadstostrengthenofthedesertifieationextentandtheexpansionofitsscopearoundtheworldInparticulardesertificationinChinais

2、veryseriousCombatdesertificationisthereforeallimportantlongtermtaskIna10ngtime，biologicalmethodswereusedinthecoltr∞ofcombatingdesertificationButintheextremedroughtdesertengineeringmethodisaneffectivewaytocombatdesertific

3、ation11圮strawcheckerboardbarrierstechnologyisamethodthatissummedupb，peoplewhich啪effectivelypreventsandItcombinesengineeringmethodwithbiologicalmethodtOcombatdesertificationandmorescientifictosolvetheproblemofdeserfificat

4、ionUndersevereconditionsinthedesertpavingstrawcheckerboardbarriersbymanishighdegreeoflaborlessefficientandhighcostshmteadpavingstrawcheckerboardbarriersbymechanismisareasonablechoicen也p叫ect”Strawcheckerboardbarrierspavin

5、grobot”(nationalhightechnologyresearchanddevelopment#anthe”863Program”ItemNo2002AA422170)wascomeuponthisbackgroundInthispaperbasedonthispfojectusingadvancedtechnologyandmultibodysystemdynamicstheorytheresearchOilthestraw

6、checkerboardbarrierspavingrobotiscarriedoutByADAMSsoftwaretherobotissimulatedAndalltheexperimentisdoneintheInnerMongoliaSaudi仙thesisintroducestheformsanddangerofdesertificafionandanalyzesthefeaturesofallkindsofcombatingd

7、eserfificationtechniquesItfocusesondescribingcharacteristicsandtechniquesofstrawcheckerboardbarriersmethod瞰thesissummarizesdesertenvironmentimpactOilworkvehiclesTherobotdesignrequirementsarepresented，onthebasisofthisthet

8、ractorWTC5210isselectedwhichadaptstothedesertenvironmentAndthemainperformanceofthedeserttractorisintroduced仳thesisdesignsthelongitudinalpavingmechanismandthehorizontalpavingmechanismwhichcanpavestrawcheckethoardbarriersa

9、nddescribestheirmechanicalprinciple11listhesisalsoachievesthepneumaticssystemandhydraulicsystemdesignWiththe3DsoftwareofP硒／E。therobotsolidmodelisestablishedBasedOnthetheoryofthemultibodysystemdynamics，bymeansofRohersonWi

10、ttenbergmethodtherobotkinematicalanddynamicalmodelsareestablishedwhichlaythefoundationforfurthersimulationandcontrolsystemmodelingThroughtheinterfacesoftware，thePro／EmodeloftherobotistransmittedintothesoftwareADAMSA血盯tha