一种重载全地形机器人履带行走装置转向性能分析  

Turning Performance Analysis for Heavy Duty and All-terrain Robot's Tracked Walking Device

作　　者：张雪晖[1] 黄芳[1] 叶建美[1] 

机构地区：[1]浙江工业职业技术学院,绍兴312000

出　　处：《世界科技研究与发展》2015年第5期560-563,共4页World Sci-Tech R&D

基　　金：浙江省教育厅科研项目(FW2013096);浙江省自然科学基金(y1080023)资助

摘　　要：为解决某重载全地形履带式机器人转向系统转向误差大、控制难度高等问题,以三履带转向系统为研究对象,运用理论计算方法对重载全地形履带式机器人转向过程非稳态运动学和动力学进行建模。最后通过对比理论计算和试验测试结果的方法对建立的非稳态转向模型进行验证,证明所建立重载全地形三履带机器人转向机构非稳态转向模型在预测履带行走装置转向性能方面具有一定可行性。To solve large steering error and difficult to control of the heavy duty and all-terrain tracked robot steering system,three track steering system was regarded as the research object. The theory calculation method was applied for nonsteady kinetic and kinematics modelling of steering process of heavy duty and all-terrain tracked robot. Finally the theoretical calculation and test results of non-steady kinetic and kinematics modelling of steering process were compared,which validated and proved that non-steady steering model established has certain feasibility in predicting the steering properties of the tracked walking device.

关 键 词：履带 转向性能 动力学分析 机器人 非稳态 运动学 理论计算 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]