轮履复合式安保机器人移动系统研究  

Mobile System Research of Security Robot with Wheel-Track

作　　者：曹冲振[1] 郭云东[1] 周娜[1] 陈京邦[1] 

机构地区：[1]山东科技大学机械电子工学院,山东青岛266590

出　　处：《机械设计与制造》2015年第5期144-146,共3页Machinery Design & Manufacture

基　　金：国家自然科学基金(50975164)

摘　　要：提出了一种新型轮履复合式安保机器人的移动系统设计方案,该移动系统的轮履复合结构设计是机器人底盘设计的关键。根据不同工况路面的移动要求,在轮履复合机构的作用下,机器人可实现轮式移动和履带式移动的变换以调整其运动姿态。结合典型的爬楼越障运动详细分析了机器人的越障过程,进而分析了该机器人的尺度综合。最后进行样机试验,试验结果表明该机器人的轮履复合式移动底盘具有很高的机动性和较强的越障性,且可适应多种复杂路况。A new movement system scheme of security robot with wheel-track is proposed. The wheel-track composite structure design is the key to the robot chassis design. According to the requirements of the different working condition,the robot can realize the transition between wheeled mobile and tracked mobile and adjust its moving posture under the action of composite structure of the wheel-track. The obstacle-surmounting process of robot is analyzed in detail which iscombined with the typical obstacle-navigation movement,then the robot＇s dimensional synthesis is analyzed. Finally,a prototype test is made successfully. The result of the test shows that the chassis of wheel-track composite structure of robot has very high mobility and good traveling capability,and can adapt various complex road conditions.

关 键 词：轮履复合 爬楼 灵活 越障 

分 类 号：TH16[机械工程—机械制造及自动化]