全驱动六轮悬挂摇臂式机器人的设计及其越障性能分析  

Design of the full drive of six wheels and swing arm of hoisted robot and analysis of obstacle crossing capacity

作　　者：秦玉鑫[1] 王裕清[1] 李智国[1] 

机构地区：[1]河南理工大学机械与动力工程学院,焦作454000

出　　处：《现代制造工程》2015年第6期40-46,65,共8页Modern Manufacturing Engineering

基　　金：国家自然科学基金项目(U1261115);河南省瓦斯地质与瓦斯治理重点实验室--省部共建国家重点实验室培育基地开放基金项目(WS2012A06);2012年度高等学校博士学科学科点专项科研基金--博导类项目(20124116110003)

摘　　要：设计了一种全驱动六轮悬挂摇臂式智能移动机器人,对机器人的硬件和软件设计进行了介绍,并制做出了实验样机。通过对机器人结构的建模和理论分析,对其越障性能进行了深入的研究;实验证明,该机器人具有良好的越障能力,可作为执行搜救、信息探测和排爆等特殊任务的移动平台,具有良好的发展前景。Designs a full drive of six wheels and swing arm of hoisted intelligent mobile robot. It introduces the design of the robot＇ s hardware and software. The experimental prototype was made out. Based on the modeling and theoretical analysis of the structure of the robot, made in - depth study for its performance climbing obstacle. Experiments show that the robot has a good obstacle crossing capacity and gets through all - terrain capability. This robot can be used as a mobile platform for search and rescue, information detection, explosive ordnance disposal and other special tasks. It has good prospects for development.

关 键 词：全驱动 悬挂摇臂 机器人 越障 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]