哈尔滨工程大学学报2016，Vol.37Issue(2)：266-270,5.DOI:10.11990/jheu.201410016
轮－履混合式移动机器人爬坡运动研究
Climbing motion of a track-wheel hybrid mobile robot
摘要
Abstract
Motion requirements of mobile robots are dependent on the surrounding environment, and their kinematic performance is dependent on structures encountered. In this study, we designed a new track-wheel hybrid mobile robot and reported different motional modes. For different environments, the robot may require transformation among different motion modes such as wheel, track, or leg motion mode. Based on the structural characteristics of the ro⁃bot, we analyzed different climbing motion. The constraint conditions of vertical and lateral climbing states were ob⁃tained using the stability pyramid method. In the track motion mode, the robot can completely climb up to a 25° slope. Experiments show that this type of mobile robot can adapt to different terrains.关键词
轮履/运动模式/移动机器人/爬坡运动/稳定锥Key words
track-wheel/motion mode/mobile robot/climbing motion/stability pyramid分类
信息技术与安全科学引用本文复制引用
帅立国,郑丽媛,费燕琼..轮－履混合式移动机器人爬坡运动研究[J].哈尔滨工程大学学报,2016,37(2):266-270,5.基金项目
国家自然科学基金资助项目（61175069，51075272）． （）
