可抛掷多运动态球形机器人移动机构  

Moving mechanism of the throw-able multi-locomotion stated global robot

作　　者：罗自荣[1] 尚建忠[1] 丛楠[1] 潘中银[1] 

机构地区：[1]国防科技大学机电工程与自动化学院,湖南长沙410073

出　　处：《机械设计》2009年第9期30-33,共4页Journal of Machine Design

摘　　要：结合球形机器人防护性好,两轮机器人能自平衡易控制,弹跳机器人越障能力强的优点,构建了一个具有球形、两轮和跳跃3种基本运动形态的可投掷机器人。球态时机器人两个半球闭合,便于母车抛掷和携带,在平地可全方位运动;遇到沙地、坡地等复杂地形环境,展开为两轮机器人,弹跳机构展开作为第3支点,增强越障爬坡能力;当遇到障碍或陷于困境时可跳跃行进。文中对其结构和原理进行了介绍,并进行机械结构设计和样机研制。场地试验表明,该机器人具有投放方便和运动灵活的特点,验证了设计方案的可行性。Combining with the advantages of good protection of global robot, of self equilibrium and easy control of two wheeled robot, of strong obstacle surmounting ability of jumping robot, a throw-able robot that possesses three kinds of basic modalities of global, two wheeled and jumping robots was constructed. While in the global state the two hemispheres of the robot will closed into a sphere, which could be conveniently threw and carried by mother vehicle and could make all directional movements on flat ground. While falling across the complicated terrain environments of dene, sloping field etc. , it would outspread to a two wheeled robot, the bouncing mechanism would open out as a third supporting point so as to strengthen the obstacle surmounting and slope climbing abilities. While barge up against obstacles or falling into straits, it could make jumping advance. The structure and principle of this robot were introduced in this paper and the mechanical structural design and prototype development and manufacturing were carried out. The Field experiment showed that this robot has the characteristics of putting in convenience and moving agility, and the feasibility of this designing scheme was verified.

关 键 词：球形机器人 多运动态 两轮机器人 移动机构 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]