虾形六轮移动机器人尾部越障性能分析

Obstacle performance analysis of the tail part of six-wheel shrimp mobile robot

越障能力对移动机器人的应用至关重要。提出的一种虾形六轮移动机器人为研究对象,研究如何提高其尾部的垂直越障能力。分析了机器人的尾部垂直越障过程,通过建立尾部垂直越障力学分析模型,得到了机器人尾部垂直越障各影响因素(特别是结构尺寸)的关系,并讨论了各影响因素的参数应如何选取,为设计机器人结构提供了理论依据;最后用物理样机进行了验证,实验结果表明分析得到的结论是正确的。

It is important of obstacle performance for application of a mobile robot. A six-wheel shrimp mobile robot is put forward,and how to improve perpendicular obstacle performance of its tail part was studied. The climbing perpendicular obstacle process of the tail part was analyzed,and by building the mechanical analysis model of perpendicular obstacle of the tail part,the relation of influence factors,especially the structure dimensions,was obtained,moreover,how to design the parameters of influence factors was analyzed,which can provide theoretical instruction when designing the robot. Experiments of actual model machine were finished,and the results show that conclusions are correct.