基于EDEM一ADAMS的粮仓机器人参数优化及试验研究

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中图分类号： S229+ .3 文献标识码：A 文章编号：2095-5553（2025）10-0275-09

Abstract：Toimprove the eficiency andautomation level of grain storage operations，research is conducted on the driving andnavigation performanceof grainsilorobotsunderactualworking conditions.This research utilized theDiscreteElement Method（EDEM）for the precise simulation of themechanical propertiesof corn particles.Concurently，by integrating multi-body dynamics software （ADAMS）to develop a dynamic model of a grain silo robot，a coupled model encompassing the interaction betwen therobot andcorn particles was established.The driving performanceof the grain silorobot was analyzed under diferent spiral speeds and body mases；Designed arobot navigationsystem to achieve environmental perception，2D LiDAR mapping，andautonomous navigation functions，andcompletednavigationperformance experiments.Theresults showthatas the spiral speed increases，the robot's travel speed increases linearlywith the spiral speed，andthesliprateand pitchanglealsoincreaseaccordingly，whilethesinkage decreases，theparticlecontactforce increases，andtherobotsdrivingstabilitydeteriorates.Inadition，thesliprate，sinkage，andpitchanglearepositively corelatedwith body mass，whilethe driving speed islinearly negatively correlated with body mass.For every 5kg （204号 increase in body mass，the driving speed decreases by 0.023m/s ，and the slip rate increases by 11.2% .Finally，the grain silo robot can complete multi-point navigation operations with a maximum positioning error of 0.17m ，meeting the needs of use.It provides an important basis for the optimization design of automated equipment for grain silos.

Keywords：grain silorobot；screwdrive；grainsurface operation；autonomous navigation；multi-bodydynamics；discreteelement

0 引言

粮食储藏是保障粮食安全的重要环节，在平粮、翻粮等作业中，多以人工为主，存在作业效率低、安全隐患大、成本高等1问题，采用粮仓机器人可提高粮食储藏作业效率和自动化水平，保证粮食最佳存储时间2]。（剩余14371字）