摘要
针对探测机器人对未知环境探测时易发生倾覆而丧失运动能力的情况,结合探测机器人运行过程中车载仪器需维持一定的姿态角的功能要求,提出了一种翻滚式探测机器人结构。该机器人由八个驱动轮、两个侧向支撑架以及平衡架组成:八个驱动轮保证机器人发生倾覆后仍有四个驱动轮与地面接触,从而不丧失运动能力;侧向支撑架可使机器人发生侧倾后与地面保持较大的倾角,待稳定后借助驱动力恢复至正常姿态,从而恢复运动能力;平衡架可保证车载仪器的横滚角和俯仰角在探测机器人发生倾覆和侧倾时基本不变。针对探测机器人的上述功能,运用ADAMS进行运动仿真,以验证各部件功能的可实现性。仿真结果表明,翻滚式机器人各部件实现了设计功能。
A rolling exploring robot was brought out aimed at the case that the exploring robot listed and capsized in uneven and unknown terrain and lost the mobility.The robot was composed of eight driving wheels, two side supporting frames and balancing frames. The driving wheels could keep the mobility of the robot for they kept four wheels on the ground when the robot capsized.The side supporting s could help recovering the mobility of the robot with drive when the robot listed for it kept a great angle between the robot and ground.The balancing frames could keep the rolling angle and pitching angle of the equipments on the robot in minor change when the robot listed and capsized. Motion simulation was carried out aimed at those functions by means of ADAMS. The feasibility of each parts of the exploring robot is proved by the results of simulation.
出处
《机械设计与制造》
北大核心
2008年第1期164-166,共3页
Machinery Design & Manufacture
关键词
探测机器人
翻滚式
运动仿真
Exploring robot
Rolling
Motion simulation
