履带自张紧式主臂可变构型机器人机构原理与越障分析  

Mechanism principle and obstacle-crossing analysis of robot with automatic-strained track and variable main arm configuration

作　　者：刘少刚[1] 郭云龙[1] 贾鹤鸣[2] 林珊颖[3] 赵丹[1] 

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001 [2]东北林业大学机电工程学院,黑龙江哈尔滨150040 [3]哈尔滨工程大学船舶工程学院,黑龙江哈尔滨150001

出　　处：《中南大学学报（自然科学版）》2013年第6期2289-2297,共9页Journal of Central South University:Science and Technology

基　　金：国家自然科学基金资助项目(60775060)

摘　　要：研究一种主臂可变构型履带自张紧式救援机器人,针对履带张紧问题,应用椭圆形成原理,能够从理论上保证机器人构型变化时履带的形变量为0 mm,从而可以获得更好的履带张紧效果;通过引入摆臂三角轮机构丰富了构型变化,提高机器人的越障性能。对机器人攀爬台阶、斜坡及爬越沟道的运动机理进行分析,建立运动学模型。研究结果表明:机器人的实际越障性能与理论计算结果相符,具备良好的越障能力。A robot with variable main arm configuration and automatic-strained track was studied. Aiming at the problem of track straining, a better effect of track straining was obtained using the ellipse forming principle and ensuring the shape variable of track was 0 mm. Through introducing the swinging-wheel, the variation of configuration was enriched and the obstacle-crossing capability of robot was improved. The movement mechanism of robot platform carrying out tasks of navigating stairs, climbing slopes and crossing trenches was analyzed. A kinematic model was built, and the maximum obstacle-crossing capability in corresponding environment was generated. The results show that the experimental result of robot obstacle-crossing capability is consistent with that of theoretical calculation, and the robot has good obstacle-crossing capability.

关 键 词：救援机器人 主臂可变构型 履带自张紧 越障 椭圆形成原理 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]