一种复合式机器人的轮足结构设计及仿真

Design and Simulation of Wheel Foot Structure of a Composite Robot

对一种六轮足复合式机器人进行受力分析,得到了机器人电机输出转速和转矩的表达式。基于飞机起落架结构设计了一种轮足结构,并对轮足结构在前摆、中间位置和后摆位置进行了分析,研究了各杆结构的尺寸比例关系。利用ADAMS软件对轮足结构进行了仿真,结果表明,三角支架在120°转角范围,推杆设计行程为150 mm时,三角支架主动驱动和电动推杆主动驱动均满足要求。

The force analysis of a six wheeled compound robot is carried out,and the expression of the rotational speed and torque of the robot motor is obtained. Based on the structure of the aircraft landing gear,a wheel foot structure is designed,and the position of the front foot,the middle position and the rear pendulum are analyzed.The relationship between the size of the rod structure is studied. The wheel foot structure is simulated by using ADAMS software. The results show that the triangle bracket is in the range of 120°,the push rod design schedule for 150 mm,drive and the triangle bracket can satisfy the requirements of driving electric putter.