小型地面侦察机器人移动载体技术研究

本文就侦察机器人移动载体作了详细分析,提出了提高机器人地形适应能力的带前摆臂的双节地面移动机器人结构,并对机器人越障过程中机器人整体及前摆臂的受力情况进行了分析,得出驱动力矩及各杆件的受力情况,为双节地面移动机器人技术的研究工作提供了一定的理论依据。最后进行机器人载体运动仿真分析,对爬越楼梯和穿越狭缝的作业环境进行仿真,通过三维动态显示直观地看出机器人载体机构的运动情况及行驶通过性情况。

This paper has analyzed moving carrier of scout robot in detail, and has put for ward binodal mechanism with forward swinging arm for ground scout robot in order to improve the ability of landform adaptation. Then stress situation of total robot and forward swinging arm are analyzed during obstacle-crossing, we obtained moment of driving force and stress of each member bar, this provide a theory basis for researching of ground scout robot. At last, moving carrier kinematics simulation analysis are executed, through activity environment simu lation, we can see the motion status of robot moving carrier vividly.