摘要
通过对自主研制的履带式排爆机器人跨越障碍过程的稳定性进行分析,分析机器人爬楼梯的侧向稳定性,建立机器人越障运动学、动力学方程,导出机器人越障时产生的惯性角,并以此作为机器人越障动态稳定性指标来判断机器人的稳定性,最终得出机器人在跨越障碍时,以前接地点落地碰撞引起的冲击最为严重。
The stability of a crawler-type explosive-removing robot developed by the author＇s university during the course of its crossing over obstacles was analyzed for the purpose of studying its stability sideways, setting up the kinematics and dynamics equations for the robot crossing over obstacles and thus deducing the inertia angle produced in the process. The inertia angle is further used as the dynamic stability indicator of the robot crossing over obstacles to judge its stability. A conclusion was reached that when the robot is climbing stairs, it touches ground with its head forward because of the unequal movement speeds of its left and right tracks, producing impact force, which is the severest among other kinds of force.
出处
《机械科学与技术》
CSCD
北大核心
2007年第1期65-67,71,共4页
Mechanical Science and Technology for Aerospace Engineering
关键词
排爆机器人
动态稳定性
惯性角
explosive-removing robot
dynamic stability
inertia angle
