履带式复合机器人的越障仿真

The Obstacle Crossing Simulation of Master/slave-tracked Robot

为研究越障机器人能否成功越障,在Recurdyn环境下建立了主从履带复合式越障机器人的虚拟样机平台,分析了该机器人翻越台阶时的重心变化规律及重心轨迹算法,根据越障高度设计适应台阶的机器人越障姿态和动作序列,并在Recurdyn中实现,通过仿真验证其可行性,验证重心轨迹是越障能否成功的关键影响因素。

The model of Master/slave-tracked over＇obstacle robot is built up in Recurdyn. The variation of gravitycenter and calculation method of the robot during obstacle negotiation are analyzed.Different motionsequences for obstaclenegotiation are designed according to different obstacle height, which are then achieved and verifiedin Recurdyn, so as toverify the motion sequences. And which is also verified that the gravity center is a key factor of over obstacle.