中南大学学报（自然科学版）2013，Vol.44Issue(6)：2289-2297,9.
履带自张紧式主臂可变构型机器人机构原理与越障分析
Mechanism principle and obstacle-crossing analysis of robot with automatic-strained track and variable main arm configuration
摘要
Abstract
A robot with variable main arm configuration and automatic-strained track was studied.Aiming at the problem of track straining,a better effect of track straining was obtained using the ellipse forming principle and ensuring the shape variable of track was 0 mm.Through introducing the swinging-wheel,the variation of configuration was enriched and the obstacle-crossing capability of robot was improved.The movement mechanism of robot platform carrying out tasks of navigating stairs,climbing slopes and crossing trenches was analyzed.A kinematic model was built,and the maximum obstacle-crossing capability in corresponding environment was generated.The results show that the experimental result of robot obstacle-crossing capability is consistent with that of theoretical calculation,and the robot has good obstacle-crossing capability.关键词
救援机器人/主臂可变构型/履带自张紧/越障/椭圆形成原理Key words
rescue robot/ variable main arm configuration/ automatic-strained track/ obstacle-crossing/ ellipse forming principle分类
信息技术与安全科学引用本文复制引用
刘少刚,郭云龙,贾鹤鸣,林珊颖,赵丹..履带自张紧式主臂可变构型机器人机构原理与越障分析[J].中南大学学报（自然科学版）,2013,44(6):2289-2297,9.基金项目
国家自然科学基金资助项目(60775060) （60775060）
