摘要
为增强探测车执行任务过程中的越障能力及地面适应能力,笔者提出了一种新型轮履复合式越障移动系统。首先对移动系统结构进行了分析,进而对差速平衡机构及前履带轮结构进行了设计,将两承重轮支承连杆及履带轮悬架之间设计平行四边形机构。其次,建立了探测车三维运动学模型,并推出了探测车车体速度与车轮速度之间的运动关系,提供了获得探测车越障过程中位置和方位的方法。最后对探测车在不平路面行进过程进行了运动仿真,验证了新型轮履复合式移动系统的地面适应能力及其运动特性。
In order to improve the ability of obstacle surmounting and adaptability of exploration robot in certain tasks, a new type of wheel-tracked moving system is presented. First, the structure of the moving system was ana- lyzed, then the differential balance mechanism and the front track was designed, and a parallelogram mechanism was designed to link the suspension frame and the rods of the bearing wheels. Then, the kinematics modeling of the exploration robot was carried out and its kinematics equations were deduced. After that, the velocity relationship between the body and its wheels was established, and a method was proposed to compute the body＇s velocity to esti- mate the position and orientation of the exploration robot. Finally, simulation was done to prove the kinematic char- acteristics of the exploration robot, and the adaptability and capability of its obstacle surmounting was validated.
出处
《机械科学与技术》
CSCD
北大核心
2009年第7期881-885,共5页
Mechanical Science and Technology for Aerospace Engineering
基金
江苏省自然科学基金项目(BK2007197)
江苏省普通高校研究生科研创新计划项目(CX08B-044Z)资助
关键词
探测车
轮履复合
移动系统
结构设计
运动学方程
exploration robot
wheel-tracked
moving system
structure design
kinematics equations
