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行走机构作为移动机器人的核心,其性能的优劣直接决定了整个移动机器人的移动性能和越障能力。以机器人常见的行走机构形式作对比,来具体分析仿生机器人的越障行走功能,并针对机器人在行走过程中需要满足跨越障碍物的要求,提出了一种特殊的机器人行走机构,将具体介绍该种行走机构的设计思想和运动原理,以及具体剖析行走机构的关键部件,依据仿真学说理论的基础上,将机械科学理论与机器人实际越障能力相结合,从而为机械向生物性能进化提供可行性和可取性。具体从理论上探讨了该机器人的越障性能分析,运动规划及越障高度和动力等问题。
As the core of mobile robot, walking mechanism determines the mobile performance and obstacle obstacle of mobile robot directly. In order to compare the common walking mechanism of robots and analyze the obstacle walking function of the bionic robot in detail, a special robot walking mechanism is proposed to meet the requirements of obstacles crossing the robot during the walking process. Based on the theory of simulation theory, this paper combines the theory of mechanical science with the actual obstacle-obstacle abilities of robots so as to provide feasibility for the evolution of machinery to biological performance And desirability. This paper discusses in detail the obstacle obstacle performance analysis, motion planning, obstacle height and power of the robot.