摘要
研究了一种具有较强越障能力的虾形六轮移动机器人。通过分析得出了机器人头部车轮顺利越过竖直台阶的基本条件,重点分析了在基本条件的约束下如何设计头部四杆机构,并用速度瞬心法得到了头部四杆机构综合方法,最后通过实例证明了头部四杆机构设计方法的正确性。
A shrimp-shaped six-wheel mobile robot with higher capability of overcoming obstacles was put forward in the paper.The fundamental conditions of the head wheels passing vertical steps were analyzed,emphasizing in how to design the head mechanism under the fundamental conditions.The synthesis method of the head four bar mechanism was gotten by the method of instantaneous center of velocity.And finally,the experiments prove that the design method of the head four bar mechanism is correct.
出处
《山东科技大学学报（自然科学版）》
CAS
2010年第1期58-61,共4页
Journal of Shandong University of Science and Technology(Natural Science)
基金
山东省重大项目"特种机器人关键技术及工程化产品的研究与开发"(21050103)
关键词
虾形
移动机器人
四杆机构
机构综合
shrimp-shape
mobile robot
four-bar mechanism
mechanism synthesis
