轻工机械2018，Vol.36Issue(1)：29-34,6.DOI:10.3969/j.issn.1005-2895.2018.01.007
可变形履带式机器人行走机构设计及运动仿真
Design and Kinematic Simulation of Travel Mechanism for Reconfigurable Tracked Robot
李松 1朱建柳 2金晓怡 1黄立新1
作者信息
- 1. 上海工程技术大学机械工程学院,上海 201620
- 2. 上海交通职业技术学院,上海 200431
- 折叠
摘要
Abstract
Aiming at the problem of low load capacity and poor movement stability of mobile robot in unstructured terrain environment,a travel mechanism for reconfigurable tracked robot was designed.The robot applied the configuration with four tracks, which increased the contact area with the ground effectively and improved the movement stability.By applying the ellipse forming principle to the mechanism design of the crawler tension device, and adopting swing arm mechanism with two ellipses, the model of reconfigurable tracked robot was designed.For describing obstacle-surmounting performance of robot,the processes of climbing stair and crossing gully were analyzed from the viewpoint of kinematics,and obtaining the corresponding obstacle-surmounting limit parameters.By applying Adams the simulation model was built, and the dynamics of the virtual prototyping for robot was analyzed.The results show that the robot succeeded in surmounting 200 mm high stair and 300 mm wide gully,and obtained the torque curve which could drive the motion for robot,which provides an effective method for the following study of improvement and optimization.关键词
可变形履带式机器人/行走机构/越障性能/虚拟样机Key words
reconfigurable tracked robot/travel mechanism/obstacle-surmounting performance/virtual prototyping分类
信息技术与安全科学引用本文复制引用
李松,朱建柳,金晓怡,黄立新..可变形履带式机器人行走机构设计及运动仿真[J].轻工机械,2018,36(1):29-34,6.
