履带式救援机器人行走系统设计  

Locomotive System Design of Tracked Rescue Robot

作　　者：荣杰[1] 钱瑞明[1] 刘庆龙[1] 

机构地区：[1]东南大学机械工程学院,江苏南京211189

出　　处：《机械制造与自动化》2011年第3期132-134,174,共4页Machine Building & Automation

摘　　要：在分析典型灾难环境的基础上,采用模块化设计思想,提出了一种6自由度四摆臂履带式救援机器人行走系统总体方案和传动系统结构方案。该方案具有可迅速拆卸、方便携带和维修的优点,以及较好的越障性和机动性。基于救援机器人走廊调头和上下楼梯等越障过程的分析,设计了机器人的主要结构参数。以上工作为新型救援机器人实物样机的研制及越障性能的测试奠定了基础。Based on the modular design idea,the locomotive system overall scheme and the transmission system structure scheme of 6-DOF tracked rescue robot with four swing arms are proposed according to analysis of the typical disaster environment.The robot has many advantages,such as easy to be disassembled,carried and maintained,and good obstacle-surmounting ability and mobility.Based on the obstacle-surmounting process analysis of corridor and stairs,the main structural parameters of the robot are designed.The above work lays the foundation for the development of the new rescue robot physical prototype and the obstacle-surmounting test.

关 键 词：履带式救援机器人 行走机械系统 模块化设计 传动方案设计 越障过程分析 

分 类 号：TH12[机械工程—机械设计及理论] TP24[自动化与计算机技术—检测技术与自动化装置]