可变形履带式移动机器人设计分析  

Design and Analysis of Deformable Tracked Mobile Robot

作　　者：孙海燕[1] 宗成国[2] SUN Haiyan;ZONG Chengguo(School of Intelligent Manufacturing,Qingdao Huanghai University,Qingdao 266427,China;College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao 266590,China)

机构地区：[1]青岛黄海学院智能制造学院,山东青岛266427 [2]山东科技大学机械电子工程学院,山东青岛266590

出　　处：《电子质量》2023年第5期40-43,共4页Electronics Quality

基　　金：青岛黄海学院科技计划项目——基于深度学习的多机器人编队协同控制研究(2021KJ10)资助。

摘　　要：针对履带式移动机器人多种复杂地形的环境条件和功能要求,提出了一种可变形履带式移动机器人机构实现方法,可实时调整机器人的本体姿态,从而使机器人具备良好的多地形通过性和越障稳定性。同时针对履带式移动机器人越障时履带容易发生松弛或脱落的问题,提出了一种履带压紧被动伺服调节方法,使履带上的齿能很好地啮合在带轮上,从而有效地解决履带松弛或脱落的问题,为履带式移动机器人在各类复杂环境中的应用提供了一定的指导。In view of the environmental conditions and functional requirements of a variety of complex terrains for tracked mobile robots,a deformable tracked mobile robot mechanism implementation method is proposed,which can adjust the body posture of the robot in real time,so that the robot has good multi-terrain trafficability and obstaclecrossing stability.At the same time,in view of the problem that the track are easy to loosen or fall off when the tracked mobile robot crosses the obstacle,a passive servo adjustment method for track compaction is proposed,which makes the teeth on the tracks mesh well on the belt pulley,thus effectively solving the problem of track looseness or fall off,which provides some guidance for the application of tracked mobile robot in various complex environments.

关 键 词：可变形 履带式 移动机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]