液压摆臂履带可变形机器人的设计

Design of Crawler Deformable Robot with Hydraulic Swing Arm

履带机器人在行驶过程中,由于越障需要,会产生变形,导致履带过松或过紧。针对这一问题,将椭圆定理应用于履带机器人的结构构型,设计了液压摆臂履带可变形机器人。在设计中,引入液压可伸缩式后摆臂,基于摆臂角度由控制系统控制活塞杆,使履带长度保持不变且能持续张紧,提高了机器人的越障性能。建立各种典型地形的数学模型,对液压摆臂履带可变形机器人的越障动作进行步态规划,确定关键步态及关键点,并对液压摆臂进行力学分析,由此验证液压摆臂履带可变形机器人在各种地形中的越障性能。

When the crawler robot is traveling,due to the need for obstacle surmounting,it will deform,causing the crawler to be too loose or too tight.Aiming at this problem,the ellipse law was applied to the structure configuration of the crawler robot,and the crawler deformable robot with hydraulic swing arm was designed.In the design,the hydraulic retractable rear swing arm was introduced,and the piston rod was controlled by the control system based on the swing arm angle,so that the crawler length remained unchanged and could be continuously tensioned,which improved the robot’s obstacle crossing performance.Mathematical models of various typical terrains were established to plan the gait of the crawler deformable robot with hydraulic swing arm for obstacle surmounting,determine the key gait and key points,and perform mechanical analysis on the hydraulic swing arm to verify the obstacle crossing performances of the crawler deformable robot with hydraulic swing arm in various terrains.