双曲柄滑块机构变形履带机器人越障机构设计和分析  

Design and Analysis of Barrier-crossing Mechanism of Double Crank Slider Mechanism Deformation Tracked Robot

作　　者：孙智勇[1] 左方印 朱洪俊[1] 冷鸿彬[1] 

机构地区：[1]西南科技大学制造科学与工程学院,四川绵阳621010 [2]德阳安装技师学院,四川德阳618000

出　　处：《机械传动》2014年第6期91-95,共5页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51375410)

摘　　要：提出了一种采用对称布置的双曲柄滑块机构改变履带外形的越障机器人。该机构能够通过曲柄的转动对履带的外形和张紧力进行主动控制,以使履带的形状更好的与障碍物相适应,从而提高机器人的越障能力。对该机器人的结构和原理进行了阐述,并对其越障原理和越障能力进行了分析,为变形履带机器人的设计提供了新的思路。A kind of barrier--crossing robot is proposed, which uses a symmetrical placement of double crank slider mechanism to change the track shape. The mechanism could achieve active control of the shape and tension of the tracks by cranking, which makes the crawler fit to the obstacles better, consequently, the ability of barrier--crossing is improved. The structure and principle of the barrier-- crossing robot is discussed, the obstacle--surmounting mechanism and capability is analyzed, a new design idea for deformable tracked robot is provided.

关 键 词：双曲柄滑块机构 越障能力 变形履带 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]