摘要
设计了一种结构紧凑、地形适应性强、运行可靠的机器人轮腿。该轮腿设计采用轮足复合运动模式、模块化设计理念,结构上采用同心轴输出机构,外轴高速旋转带动机器人车轮以获得机器人的高速移动,内轴低速大转矩输出以使机器人能够站立行走,可以根据不同的地形条件变换运动模式,实现机器人轮式、关节式以及轮足复合式三种运动形式,并简要分析了各种运动模式轮腿的工作状态及其适用场合,对轮腿转向存在的局限性需进一步研究改进。
This paper develops a robot wheel-leg which has compact structure, better adaptability of landform, and dependa-ble motion. This wheel-leg system adopts the model of wheel-legged motion and ideal of modularization. It uses exportable machine of concentric shaft on the structure. The outside shaft circumrotates in high speed which drives robot movement with the same speed, the inside shaft circumrotates in low speed that can gat biggish torsion which drives robot movement with per-pendicular step. This wheel-leg system can change the moving modes according different conditions of terrain. It can complete wheeled mechanism movement, legged mechanism movement and wheel-legged mechanism movement. The work model and application occasion of wheel-leg system is briefly analyzed, the limitation of wheel-leg turnaround needs further improve-ment.
出处
《机械研究与应用》
2016年第2期47-50,共4页
Mechanical Research & Application
关键词
轮腿复合式
运动模式
运动特性
wheel-legged
moving mode
locomotion character
