轮足混合式移动机器人动力转向系统  

Design of Power Steering System for Wheel-foot Hybrid Mobile Robot

作　　者：卫伊 徐震宇 刘勇 王会彬 黎铭康 高学山[1] Wei Yi;Xu Zhenyu;Liu Yong;Wang Huibin;Li Mingkang;Gao Xueshan(School of Mechatronical Engineering,Beijing Institute of Technology,Beijing 100081,China;Research Institute,Inner Mongolia First Machinery Group Co.,Ltd.,Baotou 014000,China)

机构地区：[1]北京理工大学机电学院,北京100081 [2]内蒙古第一机械集团股份有限公司科研所,内蒙古包头014000

出　　处：《兵工自动化》2023年第6期92-96,共5页Ordnance Industry Automation

摘　　要：为提高轮足混合式移动机器人的路面适应能力,设计一种新的动力转向系统。分析传统动力转向装置无法应用于轮足混合式机器人的原因,并做出问题描述;给出新型动力转向系统的设计要求并提供一种新型动力转向系统的结构;描述该系统可以实现的功能。结果表明:该系统能解决传统动力转向系统不能使车轮大幅度升降的问题,对未来转向系统的设计提供借鉴。In order to improve the road adaptability of the wheel-foot hybrid mobile robot,a new power steering system is designed.The reason why the traditional power steering device can not be applied to the wheel-foot hybrid robot is analyzed,and the problem is described.The design requirements of the new power steering system are given,and the structure of a new power steering system is provided.The functions of the system are described.The results show that the system solves the problem that the traditional power steering system can not make the wheels rise and fall by a large margin,and provides a reference for the design of future steering system.

关 键 词：移动机器人 动力转向系统 轮足混合 优化设计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]