河南理工大学学报（自然科学版）2013，Vol.32Issue(1)：56-61,6.
串联式履带机器人越障性能研究
Research on obstacle-surmounting performance of series tracked robot
摘要
Abstract
For coping with rescue work after a natural disaster and a coal mine accident occurred, a new series cracked rescue robot structure is presented. The robot consists of three double tracked robot moduli through two hinged joints. The centroid position of a series tracked robot is changed by a double-tracked robot module pitch. The process and performance of the robot step-climbing are studied from the viewpoint of kinematics. The relationship between an elevation angle, a joint angle and obstacle height is analyzed via numerical computation. Compared with the height of double tracked robot obstacle-surmounting, it is verified that the series tracked robot has a strong ability to climb steps.关键词
串联式履带机器人/模块/铰接/关节角/质心/越障Key words
series tracked robot/ module/ hinge/ joint angle/ centroid/ obstacle-surmounting分类
信息技术与安全科学引用本文复制引用
邓乐,谢国周..串联式履带机器人越障性能研究[J].河南理工大学学报（自然科学版）,2013,32(1):56-61,6.基金项目
河南理工大学博士基金资助项目(B2009-7). （B2009-7）
