摘要
面向未知环境探测与侦查作业的机器人在执行任务时,将面对各种复杂的非结构化的障碍地形,因此,要求移动机器人具有较高的地形适应性与通过性。设计了1种采用柔性悬架的被动适应地形的履带行走机构,重点分析了柔性悬架的履带底盘的越障机理,并通过物理样机进行了攀越凸台与连续台阶地形的越障试验。试验结果表明:采用该柔性悬架的履带式移动底盘可被动地适应起伏地形,具有较强的地形通过性与运动平稳性;该底盘可以应用于对运动通过性与稳定性要求较高的移动机器人的设计。
The robot will face complex unstructured terrain obstacles with unknown environment exploration and investigation work. Therefore, the mobile robot is required to have high terrain adaptability and traffieability. This paper designs a tracked walking mechanism with passive adaptive terrain, and focuses on obstacle-surmounting mechanism analysis of crawler type mobile chassis with flexible suspension. The obstacle test of climbing convex sets and continuous steps with physical prototype shows that the crawler type mobile chassis with the flexible suspension can be used to passively adapt to the undulating terrain and has strong terrain trafficability and movement stability; and the chassis can be applied to the design of a mobile robot with higher motion and stability requirements.
出处
《中国科技论文》
CAS
北大核心
2016年第16期1813-1816,共4页
China Sciencepaper
基金
国家自然科学基金资助项目(51205391)
江苏高校优势学科建设工程资助项目(PAPD)
关键词
移动机器人
履带行走机构
独立柔性悬架
地形适应性
mobile robot
tracked walking mechanism
independent flexible suspension
terrain adaptability
