地面机动平台可重构轮履复合推进机构研究现状与展望  

Actual Research Technology and Perspective of Reconfigurable Wheel-Tracked Locomotion Systems for Ground Mobile Platforms

作　　者：刘城[1,2] 王嘉轩 刘建峰 魏巍[1,3] 闫清东 LIU Cheng;WANG Jiaxuan;LIU Jianfeng;WEI Wei;YAN Qingdong(School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China;Yangtze Delta Region Academy,Beijing Institute of Technology,Jiaxing,Zhejiang 314001,China;Chongqing Innovation Center,Beijing Institute of Technology,Chongqing 401147,China;Advanced Technology Research Institute,Beijing Institute of Technology,Ji'nan,Shandong 250300,China)

机构地区：[1]北京理工大学机械与车辆学院,北京100081 [2]北京理工大学长三角研究院(嘉兴),浙江嘉兴314001 [3]北京理工大学重庆创新中心,重庆401147 [4]北京理工大学济南前沿技术研究院,山东济南250300

出　　处：《北京理工大学学报》2024年第6期553-564,共12页Transactions of Beijing Institute of Technology

基　　金：军委科技委创新特区项目(22-TQ01-15-ZD-01-003-ZDJ)。

摘　　要：可重构轮履复合推进机构兼具轮式推进机构的快速性和履带推进机构的通过性,是提高地面机动平台在极端地形上综合性能的关键技术,在各类机器人和特种车辆上都得到了一定应用.文中在系统调研国内外相关文献的基础上,按轮履构型重构互换原理对推进机构进行分类,着重对比分析了不同构型的结构特点和应用场景,指出了可重构轮履复合推进机构的主要技术难点和发展前景.Possessing the efficiency of wheels and the mobility of tracks,reconfigurable wheel-tracked locomotion system has been equipped on robots and specialized ground vehicles as a key technology to improve the overall maneuverability performance of vehicles in extreme environment.In this paper,based on analyzing incountry and overseas recent relevant researches,the different tracks systems were classified according to their reconfiguration principles firstly.And then,comparing and analyzing emphatically on the structure features and applications of different track models,its development and current researches were reviewed and summarize.Finally,the technological difficulties and prospective of the reconfigurable wheel-tracked locomotion system were proposed.

关 键 词：地面机动平台 可重构 轮履复合 通过性 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]