机械科学与技术2017，Vol.36Issue(9)：1313-1319,7.DOI:10.13433/j.cnki.1003-8728.2017.0901
计及打滑的履带式核电机器人转向性能分析
Analysing Steering Performance of Tracked Nuclear Robot based on Skid Condition
摘要
Abstract
Based on the kinematics and dynamics of a tracked robot under skid condition when its tracks on both sides contact ground evenly,the formulas of traction force and steering resistance moment were derived when the outer grousers contact the ground,and the influence of mass center shift was analyzed.Then the steering condition of the tracked robot under skid condition was obtained.The influence of the steering rate on the skid ratio of pivot steering was discussed.The discussion results show that:the traction force and steering resistance moment are the same when the outer grousers are grounded and the tracks are evenly grounded,the steering rate range that satisfies the steering condition under skid condition increases,the skid ratios on both sides increase with increasing steering ratio when the tracked robot turns.关键词
履带式机器人/打滑条件/原地转向/质心偏移Key words
tracked robot/skid condition/pivot steering/mass center shift分类
信息技术与安全科学引用本文复制引用
梁雪刚,赵臣,张佳俊,刘洋..计及打滑的履带式核电机器人转向性能分析[J].机械科学与技术,2017,36(9):1313-1319,7.基金项目
863重大专项预研课题资助 （）
