摘要
针对地形狭窄、障碍物较高的非结构环境,基于被动自适应机理的研究,综合了轮式、履带式移动机器人的优点,设计了一种单履带轮-履复合被动自适应移动机器人.该机器人能够实现轮式、履带式、轮-履混合式三种运动模式,能够通过狭小过道与拐角,并且能越过比自身更高的障碍物.介绍了机器人的机构、运动过程和传动原理,通过建立机器人的数学模型,对轮-履复合模块变形进行了运动学分析和轮-履模式转换过程分析,再用虚拟样机技术在Adams中进行建模与仿真分析,从而验证了机器人结构变形时的运动特性和结构与参数设计的合理性.
For unstructured environment with narrow terrain and high obstacles,a single crawler wheel-track compound passive adaptive mobile robot was proposed based on studies of passive adaptive mechanism,combining the advantages of wheel and track mobile robots.The robot can be wheeled,tracked,or wheel-track mixed,with the abilities of passing though narrow aisles and corners,crossing obstacles higher than itself.The mechanism of the robot,the process of motion and the principle of the motion were then briefly described.Through the establishment of the mathematical model of the robot,the kinematics of the robot and the wheel-track transforming process were analyzed.The virtual prototype was built in Adams for simulation and analysis,which verified the characteristics of the transforming process and the rationality of structural and parametric design.
作者
张明路
李敏
田颖
吕晓玲
Zhang Minglu, Li Min ,Tian Ying ,Lu Xiaoling(School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, Chin)
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2018年第3期69-74,共6页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
国家自然科学基金资助项目(61473113)
天津市科技计划资助项目(15ZXZNGX00080)
