四连杆变形履带式机器人的越障性能分析  

Analysis on the Performance of Obstacle Surmounting for Deformabal Tracked Robot With Four Links

作　　者：赵希庆[1] 尚建忠[1] 罗自荣[1] 谢惠祥[1] 

机构地区：[1]国防科技大学机电工程与自动化学院,长沙410073

出　　处：《机械设计与研究》2009年第6期36-39,共4页Machine Design And Research

摘　　要：提出了一种基于四连杆机构的微小型履带式机器人结构,通过履带变形实现了机器人重心的偏移,有利于机器人的越障。采用数值计算方法着重分析了其翻越垂直路障的性能,并使用RecurDyn进行了虚拟样机运动学仿真。仿真结果和物理样机试验表明,机器人具有良好的垂直障碍通过能力。A miniature tracked structure,based on four links mechanism is presented. The gravity center of robot could be transferred by the deformation of tracks,which is propitious to surmount the obstacle. The performance of surmounting vertical obstacle is analyzed via numerical computition. The kinematic simulation of robot＇s virtual prototype is completed by using RecurDyn. The results of simulation and test on prototype indicate that the robot has preferable capability of surmounting vertical obstacle.

关 键 词：四连杆 履带机器人 越障 RECURDYN 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]