基于球齿轮的轮腿移动系统单侧越障过程运动学研究

Unilateral Obstacle Negotiating Analysis of a Miniature Wheel-legged Mobile System Based on Spherical Gear

单侧越障是轮腿复合移动系统在复杂地形行进过程中一种经常性的运动形式,针对一种新型轮腿式移动系统,分析了其在保持主体姿态情况下的单侧越障运动条件,并对两种典型的障碍情况进行了运动约束分析和运动参数推导计算,据此总结了该轮腿系统单侧越障运动参数计算的一般过程,给出了部分运动参数计算结果曲线,最后,就系统在运动过程中的一些实际问题进行了分析。

Unilateral obstacle negotiating is a motion often occurs during mobile system transiting a rough terrain.Aims at this type of motion a study is presented for a new wheel-legged mobile system based on the ring involute spherical gear structure.The study find out the qualifications of unilateral obstacle negotiating keeping the main body′s pose of a wheel-legged mobile system.Using the qualifications,two types of obstacles are analyzed and their motion constraints and parameters are deduced and simulated by a computer.Then a common process is given for unilateral obstacle negotiating of this new wheel-legged mobile system.Finally,we present Practical applications of the system.