轮履变结构反恐机器人设计及运动学分析

Design and Kinematic Analysis of Anti-terrorism Robot With Wheel-tracked Variable Structure

针对轮履复合式反恐机器人轮和履带分开设计,结构不紧凑的问题,提出一种轮履变结构反恐机器人新型机构设计。轮式移动和履带式移动可相互转变,使机器人具有机构可重构的特点,从而使机器人体积减小,结构更加紧凑,既能采用轮式方式快速移动,又能采用履带方式进行越障。通过对机器人进行运动学分析和在RecurDyn软件中进行越障仿真研究,验证了机器人的越障性能,同时为后续机器人实验研究提供了理论依据。

To solve the problems of the wheel- tracked compound robot used in anti - terrorism such as the wheel and track being separately designed, less compact structure, a new design scheme of anti - terrorism robot based on wheel - tracked variable structure is presented in this pa per. Wheeled mobile and tacked mobile can be turned into each other,which makes its mechanism reconfigurable, less volume, more compact structure. It can＇t only move fast by wheel, but also navigate obstacles by track. RecurDyn is used tosimulate the obstacle based on the kinematic analysis of the robot, so the climbing obstacle performance of the robot is verified, which also provides theoretical bases for the function expansion and prod of the robot.