机械制造与自动化2023，Vol.52Issue(6)：160-163,4.DOI:10.19344/j.cnki.issn1671-5276.2023.06.040
双行走机构机器人交互机构的技术现状与发展
Current Status and Development of Interactive Mechanisms for Dual-walking Robots
摘要
Abstract
Special robots,suitable for working in ruins,swamps,bushes and other harsh environments,and capable of replacing people to undertake dangerous tasks,have a good application prospect in military,anti-terrorism,fire fighting and other aspects.Comparring with the traditional single walking mechanism chassis,the multi-walking mechanism,as a new type of special robot chassis structure,can flexibly switch between a variety of required walking mechanism and has the rapid energy saving characteristics of the wheel type and the crawler type of high obstacle crossing and high flexibility of leg type.This paper analyzes the advantages and disadvantages of the robot chassis adopting compound walking mechanism,coupling walking mechanism and superposition walking mechanism,abtains several structures with better performance and higher feasibility,and proposes the development trend of future special robots based on cost and reliability.关键词
特种机器人/行走机构/轮履耦合/轮腿耦合/交互机构Key words
specialized robot/running gear/wheel-track coupling/wheel-leg coupling/interaction mechanism分类
信息技术与安全科学引用本文复制引用
金承珂,郭铁铮,郑亦峰,汪超,尹越..双行走机构机器人交互机构的技术现状与发展[J].机械制造与自动化,2023,52(6):160-163,4.基金项目
国家级大学生创新创业训练计划支持项目(202111276009Z) （202111276009Z）
江苏省农业科技自主创新资金项目(CX(21)1007) （CX(21）
浙江省农作物收获装备技术重点实验室开放课题项目(2021KY03,2021KY04) （2021KY03,2021KY04）
江苏省研究生科研创新实践活动项目(SJCX21_0933,SJCX21_0940) （SJCX21_0933,SJCX21_0940）
