摘要
针对室外环境的复杂性,结合轮式行走机构与履带式行走机构的优点,设计了一种轮履变换机构,将该机构用在环保机器人上,并设计了两种不同的末端执行器。运用大型三维软件UGNX建立了机器人的模型。分析了机器人的越障性能。为后续的机器人运动学以及动力学分析做出了保证。
Aiming at the complex of the outdoors environment,combing with the odvantages of the wheeled walking mechanism and tracked walking meehanism,a wheeled and tracked transforming robot is designed,which will be mounted on the environment robot with two different manipulators being designed. Then by using UG NX,a model is established.And the ability of swrmotmting obstacles of the robot is aaa- lyzed,which provides a guarantee for the kinematics and the dynamics analysis of the subsequent robot.
出处
《机械设计与制造》
北大核心
2012年第3期270-272,共3页
Machinery Design & Manufacture
关键词
轮履组合变换
移动机器人
越障
Wheel-track changing
Mobile robot
Overcoming obstale