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设计了一种四段式轮-履结合越障机器人。设计了越障机器人的整体结构,前肢采用轮式驱动,后部双翼采用结构型履带拖动,以轮-履结合的方式实现正向和反向越障;对所设计的结构进行合理的简化并进行越障方案分析;采用质心法对机器人进行越障可行性和最大越障高度进行分析,得出最大越障高度;最后通过实验装置进行越障实验,机器人顺利通过设定越障高度,验证了四段式轮-履结合机器人越障性能分析的正确性。
A four-stage wheel-track combination obstacle robot is designed. The overall structure of the obstacle avoidance robot was designed. The forelimbs were driven by wheeled vehicles. The rear wings were driven by structural crawler tracks. The forward and reverse obstacle avoidance was achieved by means of wheel-shoe combination. The designed structure was reasonably simplified At the same time, the crossover scheme was analyzed. The feasibility of obstacle crossing and the maximum obstacle clearance height were analyzed by the centroid method, and the maximum obstacle clearance height was obtained. Finally, the obstacle obstacle experiment was carried out by the experimental device. By setting the obstacle clearance height, The correctness of obstacle-crossing performance analysis of four-stage wheel-track hybrid robot is verified.