弹药处理机器人半弹性橡胶履带行驶装置设计  

Design and calculate on rubber track traveling device of dangerous ammo disposal robot

作　　者：马振书[1,2] 卞学良[3] 尹娟娟[3] 楚晓婧[3] 

机构地区：[1]中国科学技术大学,合肥230027 [2]石家庄军械研究所,石家庄050003 [3]河北工业大学,天津300130

出　　处：《现代制造工程》2008年第11期103-105,共3页Modern Manufacturing Engineering

摘　　要：根据危险弹药处理机器人的工作条件,设计一种半弹性橡胶履带行驶装置。根据橡胶履带行驶装置的结构形式,提出履带支重轮载荷分配方案,并推导出在非均匀接地比压下,原地转向时的转向阻力矩计算公式,为履带行驶装置转向性能设计计算提供依据。Abased on the work conditions of dangerous ammo disposal robot, a semi-elastic support rubber track traveling device was designed. The load distribution scheme of track supporting wheels was brought up, and when the grounded pressure was wellproportioned, the calculation formulary for the resistant steering moment of spot steering was educed. Such above provided the foundation for calculating and designing the steering of track traveling device.

关 键 词：机器人 橡胶履带 支重轮 载荷分配 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]