摘要
针对复杂环境下移动机器人越障性能的要求,提出一种采用双曲柄滑块机构改变履带外形的越障机器人。利用被动自适应装置,对履带变形过程的张紧力进行主动控制。介绍了该机器人的整体结构,阐述了其越障机构的设计和实现过程,分析验证了履带变形前后长度保持不变。为检验设计方案的有效性,对机器人爬坡、攀爬台阶和转向过程进行了分析,并利用ADAMS软件进行仿真。通过动画模拟机器人越障、转向的实际过程,验证了其越障、转向性能。
For the requirements of obstacle crossing performance of the mobile robot in complex environments,a kind of barrier-crossing robot is proposed,which two-crank-slider is used to change the track shape. Introducing the passive adaptive installation,the track deformation of tension is actively controlled. The overall structure of the robot is introduced and the design of obstacle negotiation mechanism and implementation of the process are expounded. The track length which does not change before and after deformation is analyzed and verified. In order to check the effectiveness of the robot,the robot motion such as climbing,protrusion crossing and steering process is analyzed,and the simulation via ADAMS is carried out. The actual process of obstacle-navigation and steering task is imitated,then the surmounting obstacle and steering ability is verified.
出处
《机械科学与技术》
CSCD
北大核心
2015年第12期1819-1824,共6页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目(51375410)资助
关键词
双曲柄滑块机构
越障能力
变形履带
运动仿真
acceleration
collision avoidance
computer simulation
computer software
control
design
efficiency
errors
mechanisms
robots
schematic diagrams
velocity
deformation crawler
double slider-crank mechanism
motion simulation
obstacle-climbing ability
