摘要
基于全方位移动平台适应非结构化地形的需求,并结合传统履带式平台的越障性能,提出了一种履带式全方位移动平台的结构;研究了该平台的越障性能,主要分析了其爬坡、越台阶及爬楼梯性能;设计了履带式全方位平台的虚拟样机,并利用Adams软件完成了样机爬坡、越台阶及爬楼梯的仿真试验;结合试验结果,总结了履带式全方位移动平台对上述三类障碍的几何包容条件,为其越障选择提供了依据。
Basing on the demand of adapting the unstructured road for omni-directional platform and combining with obstacle-surmounting performance of traditional tracked platform,propose a kind of structure of tracked omnidirectional platform; study obstacle-surmounting performance of the platform,and mainly analyze its performance of climbing slopes,traversing steps and climbing stairs; design the virtual prototype of the platform,accomplish the simulation tests of climbing slopes,traversing steps and climbing stairs; combining with to the tests results,summarize the geometrical tolerant conditions of overcoming the above three kinds of obstacles of the platform.
出处
《机械设计与研究》
CSCD
北大核心
2014年第6期174-179,共6页
Machine Design And Research
关键词
履带
全方位移动平台
越障性能
track
omni-directional mobile platform
obstacle-surmounting performance
