一种新型宽轮式越野机器人

A Novel Wide-wheel Cross-country Robot

设计了一种面向野外环境的全对称宽轮式越野机器人,具有单自由度的中间轴连接结构,内部驱动完全被外轮保护,简化结构的同时增强了地面适应性。基于机器人运动特性分析建立了机器人运动学模型,并利用ADAMS软件仿真验证。实验表明,机器人动作灵活,具有良好的地面适应能力和越野能力。

A robot used in rugged terrain is designed, which has intermediate shaft with single DOE and inner driver is protected totally by outer wheel. The brief structure increases the adaptability of terrain. Robot kinematic model is established based on the analysis of robot motion characteristics,and simulated in ADAMS. Experiments certified that the designed robot： can move flexibly with good adaptability and cross- country power in rug- ged terrain.