摘要
对自行设计研制的并联机构型四履带足机器人行走机构的越障能力进行了分析,给出了该机器人可以越过的最大垂直高度与车体参数之间的关系,并与普通的四履带和双履带行走机构进行比较,证明了该行走机构具有很强的越障能力和越障平稳性。
The analysis of climbing obstacle capability of the parallel-robot with four tracked feet, which was developed by Donghua University, is presented. The relations between rover parameters and perpendicular climbing obstacle height is given. The comparison between this mobile mechanism and general tracked mobile mechanism is also discussed. It approves that this mobile mechanism has great superiority in climbing obstacle and stability during climbing.
出处
《机械设计与研究》
CSCD
北大核心
2006年第6期28-31,共4页
Machine Design And Research
关键词
机器人
履带
并联机构
越障
robot
track
parallel mechanisn
climbing obstacle.
