摘要
提出了一种新式轮履复合机器人的行走机构的设计方案。对机器人行走机构进行了结构设计,设计包括机器人的轮履变体轮的设计及其传动系统的设计。轮履复合机器人在履带式移动和轮式移动之间的相互转变,使得机器人具有在正常路面的高机动性以及在复杂路面的高通过性.同时,机器人还具有机构可重构、体积小等特点。最后,对机器人轮式行走和履带方式行走特别是履带方式越沟壑、爬斜坡、上台阶作了运动学分析,为后续机器人的研究提供了理论基础。
A kind of design scheme of walking mechanism for the new wheel-tracked composite robot is proposed.Structure design of walking mechanism including wheel-track variable wheel and transmission system for the robot is presented.Because of the mutual transformation of tracked mobile and wheeled mobile,robot has high mobility in normal road and high passing ability in the complex road.Additionally,the robot also has characteristics of mechanism configuration and small size.Finally,it makes kinematic analysis of wheeled walking and tracked walking of the robot,especially surmount ditch,clime slope,cross stepsby tracked walking,which provides a theoretical basis for the following robot research.
出处
《机械设计与制造》
北大核心
2013年第7期191-193,共3页
Machinery Design & Manufacture
基金
军事医学科学院军事医学创新基金项目(2012CXTT007)
关键词
行走机构
设计
传动系统
运动学
Walking Mechanism
Design
Transmission System
Kinematic Analysis
