摘要
履带式移动机器人在非结构环境领域具有的广泛应用,提高该类机器人的高通过性和多地形适应性是目前研究的关键和前沿问题。以履带式移动机器人在多种复杂环境地形上的高通过性、高适应性为出发点,重点研究了可变形履带式移动机器人的机构实现方法、机器人与地面的交互作用机理、移动机器人运动学和动力学建模方法等问题,为履带式移动机器人的研究提供了重要的理论基础,对于提高履带式移动机器人在实际中的具体应用具有重要的作用。
Tracked mobile robots are widely used in unstructured environments.To improve the high trafficability and multi terrain adaptability of this kind of robots is the key and frontier problem in the current research.Focusing on the high trafficability and high adaptability of tracked mobile robots in a variety of complex environments and terrains,the mechanism realization method of the deformable tracked mobile robot,the interaction mechanism between the robot and the ground,the kinematics and dynamics modeling methods of the mobile robot and other issues are studied,which provides an important theoretical basis for the research of tracked mobile robots and plays an important role in improving the concrete application of tracked mobile robots in practice.
作者
孙海燕
宗成国
SUN Haiyan;ZONG Chengguo(School of Intelligent Manufacturing,Qingdao Huanghai University,Qingdao 266427,China;College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao 266590,China)
出处
《电子质量》
2023年第4期10-12,共3页
Electronics Quality
基金
青岛黄海学院科技计划项目——基于深度学习的多机器人编队协同控制研究(2021KJ10)。
