DEVELOPMENT AND MOTION ANALYSIS OF MINIATURE WHEEL-TRACK-LEGGED MOBILE ROBOT  

作　　者：DUAN Xingguang HUANG Qiang XU Yan RAHMAN N ZHENG Change 

机构地区：[1]School of Mechatronics Engineering, Beijing Institute of Technology, Beijing 100081, China [2]School of Vocational Technology, Hebei Normal University, Shijiazhuang 050031, China

出　　处：《Chinese Journal of Mechanical Engineering》2007年第3期24-28,共5页中国机械工程学报（英文版）

基　　金：This project is supported by National Hi-tech Research and Development Program of China (863 Program, No. 2002AA420110)

摘　　要：A miniature wheel-track-legged mobile robot to carry out military and civilian missions in both indoor and outdoor environments is presented. Firstly, the mechanical design is discussed, which consists of four wheeled and four independently controlled tracked arms, embedded control system and teleoperation. Then the locomotion modes of the mobile robot and motion analysis are analyzed. The mobile robot can move using wheeled, tracked and legged modes, and it has the characteristics of posture-recovering, high mobility, small size and light weight. Finally, the effectiveness of the deve-loped mobile robot is confirmed by experiments such as posture recovering when tipped over, climb-ing stairs and traversing the high step.A miniature wheel-track-legged mobile robot to carry out military and civilian missions in both indoor and outdoor environments is presented. Firstly, the mechanical design is discussed, which consists of four wheeled and four independently controlled tracked arms, embedded control system and teleoperation. Then the locomotion modes of the mobile robot and motion analysis are analyzed. The mobile robot can move using wheeled, tracked and legged modes, and it has the characteristics of posture-recovering, high mobility, small size and light weight. Finally, the effectiveness of the deve-loped mobile robot is confirmed by experiments such as posture recovering when tipped over, climb-ing stairs and traversing the high step.

关 键 词：Mobile robot Locomotion modes STAIR-CLIMBING Posture recovery 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]