半轮足式越障机构的构型设计及地形适应能力分析  

Configuration Design and Terrain Adapt ability Analysis of a Half-wheel Legged Obstacle-climbing Mechanism

作　　者：孙小平 阮翔[1] 吕秋萍 侍书成 Sun Xiaoping;Ruan Xiang;Lyu Qiuping

机构地区：[1]中国电子科技集团公司第五十二研究所

出　　处：《工程机械》2024年第10期13-17,I0017,共6页Construction Machinery and Equipment

摘　　要：为提高地面智能移动平台的地形适应能力,提出一种利用半轮转动替代小腿关节活动的抬腿式半轮足式越障机构,并增加腿部跨步机构实现多维度多模态越障能力。通过理论分析推算机构设计参数与越障能力之间的换算关系。该半轮足式越障机构作为运动单元的移动载具,兼具仿生机械足的机动灵活和传统轮式结构快速可靠的优点,结合控制系统可通过对交叉跨步夹角和半轮转动角度的控制实现多地形适配。To improve the terrain adaptability of the ground intelligent mobile platform,a leg lifting half-wheel legged obstacle-climbing mechanism that uses half-wheel rotation instead of leg joint activity is proposed,a leg stepping mechanism is added to achieve multi-dimensional and multi-modal obstacle climbing ability,and the conversion relation ship between the design parameters of the mechanism and the obstacle-climbing ability is calculated through theoretical analysis.The half-wheel legged obstacle-climbing mechanism,as a mobile carrier of the motion unit,has the advantages of both the mobility and flexibility of the biomimetic mechanical leg and the fast speed and reliability of the traditional wheeled structure,and combined with the control system,it can achieve multi terrain adaptation by controlling the cross step angle and half-wheel rotation angle.

关 键 词：半轮 越障机构 跨步机构 运动模态 地形适应 

分 类 号：TH122[机械工程—机械设计及理论]