四履带四摆臂机器人越障能力分析  

Obstacle ability analysis on the four-track robot with four swing arms

作　　者：吕宏宇 钱瑞明[1] Lv Hongyu;Qian Ruiming(School of Mechanical Engineering, Southeast University, Jiangsu Nanjing, 211189, China)

机构地区：[1]东南大学机械工程学院

出　　处：《机械设计与制造工程》2019年第5期27-30,共4页Machine Design and Manufacturing Engineering

摘　　要：针对一种四履带四摆臂机器人结构和设计参数,基于理论分析和仿真计算,建立了机器人总质心位置随摆臂摆角变化规律的数学模型,给出了减小总质心位置变化范围的途径;讨论了机器人跨越台阶、斜坡行走等典型工况下的运动状态,获得了机器人所能攀越台阶的最大高度与对应的机器人位姿,以及正向和横向两种斜坡运动时机器人所能适应的最大坡度角。为四履带四摆臂机器人在复杂环境下行走时摆臂运动和质心位置的控制提供了理论依据。According to the structure and design parameters of a four-track robot with four swing arms, the changing regulation of the total mass-center position of the robot with the arm's swing angle is established based on theoretical analysis and simulation calculation, and the way to reduce the changing range of the total mass-center position is given. The typical working conditions of the robot, including step and slope-climbing, are discussed. The maximum obstacle surmounting height and the corresponding position and orientation parameters of the tracked robot are obtained. When the robot moves forward and laterally on a slope, the maximum angles of slope are also obtained. The above work provides a theoretical basis for the control of the swing arms movement and the mass-center position of the four-track robot with four swing arms.

关 键 词：履带式机器人 四摆臂 质心位置 越障能力 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]