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设计了一种三节履带式结构机器人,通过轴套轴结构实现了机器人的主运动和摆臂运动的同步进行,有利于机器人功能的实现。为分析机器人的越障性能,选择了阶梯、斜坡、沟道等典型障碍分析了机器人的运动机理及其越障能力,重点研究了机器人翻越阶梯时的运动机理及其越障能力。以三节履带式探测搜救机器人样机为例,分析了机器人仰角、摆臂摆角与越障高度的关系,并用MATLAB仿真得到阶梯高度函数以及相应关系曲线,求出了最大越障高度的理论值,并与实测数据进行了对比。推导出了机器人的最佳越障性能及对应的质心和摆臂的位置,为机器人越障时的控制提供理论依据。
A three-section crawler-structure robot is designed, which realizes the synchronization of the main movement and the swinging movement of the robot through the sleeve shaft structure, which is in favor of the realization of the robot’s function. In order to analyze the obstacle obstacle of robots, the typical obstacle such as steps, slopes and channels was chosen to analyze the movement mechanism and obstacle-avoidance ability of robots. The movement mechanism and obstacle-avoidance ability of robots when they climbed the stairs were studied emphatically. Taking a three-section crawler search-and-rescue robotic prototype as an example, the relationship between robot elevation angle and arm swing angle and obstacle crossing height was analyzed. The height function and the corresponding relation curve were obtained by MATLAB simulation to obtain the theoretical value of maximum obstacle clearance height. And compared with the measured data. The best obstacle performance of robots and corresponding centroid and arm position are deduced, which provides a theoretical basis for the robot to control over obstacles.