中国机械工程2012，Vol.23Issue(22)：2743-2747,5.DOI:10.3969/j.issn.1004-132X.2012.22.019
具有翻滚模式的可变形四足机器人结构设计与分析
Design and Analysis of a Transformable Quadruped with Rolling Mode
摘要
Abstract
To adapt to the unstructured environments where the terrain is irregular and plain alternately,a transformable quadruped robot which has rolling mode was proposed herein. The quadruped structure was designed and the structural parameters were also obtained by geometric method. In order that the mass center coincided with the centroid, static balance counterweight was made to the quadruped. The roller was simplified as open chain bow-shaped linkages as the rolling movement was discussed in a straight line. When the linkages were expended as noncircular form, gravitational moment was generated as the mass center departed from the centroid,and the roller was self-propelled by the moment. The mass center expression of noncircular roller during a quasi-static rolling circle was derived using D-H method. The offset of mass center varied in a quasi-static rolling circle was figured out when the structural parameters of circular roller was inputted into the expression. The results verify the rationality of structural design and counterweight.关键词
可变形四足机器人/翻滚模式/质心/结构/配重Key words
transformable quadruped/ rolling mode/ mass center/ structure/ counterweight分类
信息技术与安全科学引用本文复制引用
汪红波,余联庆,王玉金,王立平..具有翻滚模式的可变形四足机器人结构设计与分析[J].中国机械工程,2012,23(22):2743-2747,5.基金项目
国家自然科学基金资助项目(51275363) （51275363）
中国博士后科学基金资助项目(20100480291) （20100480291）
