串联式履带机器人越障性能研究  

Research on obstacle-surmounting performance of series tracked robot

作　　者：邓乐[1] 谢国周[1] 

机构地区：[1]河南理工大学机械与动力工程学院,河南焦作454000

出　　处：《河南理工大学学报（自然科学版）》2013年第1期56-61,共6页Journal of Henan Polytechnic University（Natural Science）

基　　金：河南理工大学博士基金资助项目(B2009-7)

摘　　要：为应对在自然灾害、煤矿井下事故发生后的搜救工作,提出了一种新型的串联式履带搜救机器人结构,该机器人由3个双履带机器人模块通过铰接连接构成.通过双履带机器人模块的俯仰改变机器人的质心位置,从运动学的角度研究该机器人攀爬台阶的过程及性能,采用数值计算方法分析该机器人的越障高度与仰角、关节角的关系.通过与双履带机器人最大越障高度比较,验证了串联式履带机器人具有较强的攀爬台阶能力.For coping with rescue work after a natural disaster and a coal mine accident occurred, a new series cracked rescue robot structure is presented. The robot consists of three double tracked robot moduli through two hinged joints. The centroid position of a series tracked robot is changed by a double-tracked robot module pitch. The process and performance of the robot step-climbing are studied from the viewpoint of kinematics. The relationship between an elevation angle, a joint angle and obstacle height is analyzed via numerical com- putation. Compared with the height of double tracked robot obstacle-surmounting, it is verified that the series tracked robot has a strong ability to climb steps.

关 键 词：串联式履带机器人 模块 铰接 关节角 质心 越障 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]