油压驱动的八连杆机构废墟穿越机器人  

Ruin-through Robot with Eight Links Mechanism based on Hydraulic Drive

作　　者：谢光辉[1,2] 金敉娜[1] 王光建[2] 张进春[1] 

机构地区：[1]重庆电子工程职业学院汽车工程学院,重庆401331 [2]重庆大学机械传动国家重点实验室,重庆400044

出　　处：《机械传动》2013年第12期59-61,82,共4页Journal of Mechanical Transmission

基　　金：重庆市自然科学基金资助项目(cstc2012jjA40028);重庆市教委科学技术研究资助项目(KJ112203)

摘　　要：为实现在缝隙、狭小空间等灾难现场中有效地进行辅助搜救,提出了一种油压驱动的新型八连杆废墟穿越机器人。首先,设计单楔形八连杆废墟穿越机器人并阐明其行走原理;其次,分析机器人的顶升工作过程,给出了机器人顶升力和顶升高度之间的关系;然后,通过五种循环状态对其行走步态进行了较详细分析;最后,在各种模拟障碍下进行样机实验,实验结果表明了该机器人设计的有效性。In order to search and rescue effectively a survivor in the case of disaster scene such as gap, narrow space, etc. A ruin - through robot with eight links mechanism based on hydraulic drive is proposed. Firstly, the ruin - through robot with eight links mechanism with single wedge is designed and its walking principle is explained. Sec- ondly, the relationship between lifting force and lifting height is provided through analyzing jacking process of the robot. Then, the walking gait is analyzed through five loop state of the robot. Finally, the presented prototype is veri- fied in a variety of simulated obstacle, and the validity of the robot is proved by the results.

关 键 词：辅助搜救 废墟穿越机器人 行走步态 单楔形 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]