摘要
该文以六履带移动机器人为研究目标,以适应越野路面及特殊功能需要,如爬越障碍、自身撑起、翻身等特殊动作。文中给出了系统构成、传动原理及系统设计方案,对运动姿态进行了描述,重点对自身撑起、爬越障碍、翻身3个特殊运动姿态进行了动力学建模,并结合动力驱动能力进行参数对比分析,得出了受力与驱动关系模型及状态临界条件。通过分析为小型地面机器人在复杂地理环境下顺利运行,提高机器人适应性提供了理论设计依据。
A six-track ground-moving robot is studied to develop a miniature ground robot applied to special rough environment, such as running in the cross-country race, climbing stairway and obstacle, pushing-up by itself and turning a somersault. The ground mini-robot＇ s collective design plan is discussed from the locomotion function and the technical target, such as system structure, driving principle and system design. The robot＇ s moving pose is described in the paper. The dynamic modeling of three special poses of climbing stairway and obstacle, pushing-up by itself and turning a somersault is made. The relationship model of force and driving and the condition of critical states are obtained. The results help to design the miniature ground-moving robot,which can run successfully in a complicated environment and develop its adaptability.
出处
《南京理工大学学报》
EI
CAS
CSCD
北大核心
2006年第4期486-490,共5页
Journal of Nanjing University of Science and Technology
基金
国防科技预研行业风险基金
关键词
小型地面移动机器人
运动姿态
动力学建模
障碍
撑起
翻跟头
miniature ground-moving robots
moving poses
dynamic modeling
obstacles
push-up by itself
somersault
