具有差动机构的履带式机器人设计与分析  

DESIGN AND ANALYSIS OF CRAWLER-TYPE ROBOT WITH DIFFERENTIAL MECHANISM

作　　者：崔金涛[1] 全伟才[2] 

机构地区：[1]朝阳师范高等专科学校信息工程系,朝阳122000 [2]湖南科技大学机电工程学院,湘潭411201

出　　处：《内蒙古农业大学学报（自然科学版）》2017年第3期71-75,共5页Journal of Inner Mongolia Agricultural University(Natural Science Edition)

基　　金：国家科技支撑课题计划(2014BAB12B00)

摘　　要：研制了一种具有差动机构的四履带双摇臂机器人,该机器人主体由单个直流电机驱动,通过与电磁制动器的配合,实现前进、后退及转向动作,并且差速半轴输出的动力可同步分配至两摇臂,从而完成越障动作。同时,对机器人攀爬台阶时的越障机理进行了分析,通过建立机器人主体倾角α、摇臂仰角θ及越障高度H(θ,α)三者之间的关系,得到了最大越障高度的理论值,并通过对试验样机进行现场测试,将越障高度的实测值与理论值进行了对比分析。A four - track robot with two swing arms and differential mechanism is developed. The main body of the robot is driven by a single DC motor, and realizes the forward, backward and steering actions by matching with the electromagnetic brakes, and the output power from differential half shafts can be allocated to the two swing arms, so as to complete the obstacle action. Meanwhile, The obstacle - surmounting performance of step - climbing is analyzed, by establishing the relationship of the inclination angle of the robot, the elevation angle of the swing arm and the height of the step - climbing, the theoretical value of the maximum obstacle height is obtained. And based on the test of the prototype, the measured value of the obstacle height is compared with the theoretical value.

关 键 词：履带机器人 差动机构 攀爬台阶 越障机理 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]