摘要
针对越野越障和搭载多种作业装备的需求,设计了一种配备共用搭载平台的多功能地面移动机器人。制定了机器人的主要性能指标,对机器人底盘和搭载平台结构进行了设计,并给出了控制系统的构成;基于所设计的机器人搭载平台,讨论了多功能地面移动机器人的几种典型搭载模式,并采用经典力学方法对此机器人进行了底盘行驶力学和搭载平台运动力学分析。仿真结果表明,机器人能爬上30°的斜坡,搭载2套40mm口径火箭炮,实现所要求的越野越障和搭载多种作业装备的功能。
Aiming at the requirement of crossing obstacles and carrying off a variety of operating equipments,a multifunctional ground mobile robot with a shared carrying platform is designed.The main performance index of the robot is determined.The structure design for the robot＇s chassis and carrying platform is completed.The composition of the control system is given.Based on the structure of the carrying platform,several typical carrying models of the robot are discussed and the driving mechanics of the robot＇s chassis and moving mechanics of the carrying platform are analyzed by using the classical mechanics method.The simulation results show that the proposed robot can climb up the slope of 30°,carry off two sets of integrated rocket launchers of 40mm diameter,and realize the required functions of crossing obstacles and carrying off a variety of operation equipments.
出处
《南京理工大学学报》
EI
CAS
CSCD
北大核心
2010年第6期759-764,共6页
Journal of Nanjing University of Science and Technology
关键词
移动机器人
搭载平台
经典力学方法
mobile robots
carrying platforms
classical mechanics methods
