四轮机器人整体结构建模分析  

Modeling and Analysis of Overall Structure of Four Wheeled Robot

作　　者：王坤[1,2] 刘荣海 杨迎春 郑欣 李亚宁[1,2] 万书亭[1] WANG Kun LIU Ronghai YANG Yingchun ZHENG Xin LI Yaning WAN Shuting(Department of Mechanical Engineering, North China Electric Power University, Baoding, Hebei 071003, China Electricity Science Research Institute, Yunnan Power Grid Co., Ltd., Kunming 650217, China Graduate Workstation of North China Electric Power University ＆ Yunnan Electric Power Grid Corporation Kunming 650217, China)

机构地区：[1]华北电力大学机械工程系,保定071003 [2]华北电力大学云南电网公司研究生工作站,昆明650217 [3]云南电网有限责任公司电力科学研究院,昆明650217

出　　处：《云南电力技术》2017年第1期50-55,共6页Yunnan Electric Power

摘　　要：为了在制作机器人之前确定机器人的整体结构和部分零件的尺寸,通过对轮式机器人工作过程中各种影响因素的考虑和对机器人进行数学建模之后,计算出机器人的横向轮距和纵向轮距并且估算出机器人的整体结构尺寸。之后通过对机器人在土壤中前进的情况进行数学建模,并且考虑机器人的重量和为了达到最好的通过性能,设计出轮式机器人的车轮参数的最佳值,为后面建立机器人的物理模型并进行仿真分析和机器人真实样机的研制提供了强有力的理论基础。In order to determine the overall structure of the robot and the size of the parts of the robot before making the robots, firstly, the factors which affect the working process of the wheeled robot are considered, and the mathematical model of the robot is given, and the distance between the robot＇s wheels and the overall size of the robot were calculated. The mathematical modeling of the robot in soil was established, and consider the weight of the robot and the best performance, the optimum value of wheel parameters of wheel robot was calculated. These provided a strong theoretical basis for the establishment of the physical model of the robot, the simulation analysis and the development of the real prototype of the robot.

关 键 词：机器人 结构尺寸 建模 分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]