全方位水平姿态爬楼机器人机械系统研究  

Study on the Mechanical System of the Omnibearing Walk Stair Climbing Robot

作　　者：毛立民[1] 梁虎[1] 林绍碧 陶程杰 刘智韬 

机构地区：[1]东华大学机械工程学院,上海201620

出　　处：《机械传动》2014年第3期31-34,共4页Journal of Mechanical Transmission

摘　　要：介绍了一种全方位水平姿态爬楼机器人,该机器人为三自由度机器人,通过3个自由度的配合实现机器人越障、爬楼、零半径转弯等运动。通过简图介绍了有关机器人原理、组成、平地直线运动和多阶梯阶爬越过程分解步奏;分析机器人全方位运动转向机理;推导出上、下台相对转角与机器人前进位移的关系和对应各种角度下相应位移数值,以及均分位移实现运动的平衡,并对关键零件进行有限元分析。An omnibearing level posture climbing robot is introduced,and it is a robot with three degrees of freedom. By using the three degrees of freedom , the robot can climb obstacle, stairs and turn zero radius turn movement, etc.. By using schematic drawings, the theory of the robot, the walk- ing theory, stair climbing theory of the robot are introduced, the rotation mechanism of the robot is analyzed, the relationship between rotational motion and displacement distance, the average distribu- tion of displacement to keep the robot balance are deduced, and the FEA of the key parts is carried out.

关 键 词：全方位水平姿态爬楼机器人 三自由度 简图 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]