一种特殊结构履带机器人设计及爬楼梯打滑性分析.pdf

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1、机床与液压Mar．2014HydromechatronicsEngineeringV01．42No．6DOI：10．3969／j．issn．1001-3881．2014．06．018Designandskidanalysisduringtherobotclimbingthestairsof球trackrobotwithspecialstructureJingZHANG，Jun-junZHANGCollegeofManufactureScienceandEngineering，SouthwestUniversityofScienceandTechnology，Mian

2、yang621010，ChinaAbstract：Tosolvetheinstabilityoftrackrobotintheprocessofclimbingobstacles，atrackrobotwithpassiverockerwasdesignedandthethree．dimensionalmodeIoftherobotwasbuiltbvUGinthispaper．FurthermOre．thedetailedskidtheoryanalysisduringclimbingstairwasmade．Thevirtualprototypekinemati

3、cssimulationforthisrobotwasmadebyusingthetrackedvehiclesubsys—ternofRecurDyn．Thetheoryanalysisandthesimulationresultsverifythefeasibilityofthemachineandprovidesometheoreticalguidancefordevelopingtheobstacleperformanceoftrackrobot．Keywords：Passiverocker，Track，Skid，RecurDynstructuraltopo

4、graphyandtheabilitytoclimbstairsis1．Introductiononeofthemainindicatorswhichmeasuretherobotobstacleperformance，thusthereissomesignificanceMobilerobotsarewidelyusedindangerousandtostudyonslipproblemduringtherobotclimbingharshenvironments，suchasinvestigation，inspec—stairs[9—10]．tion，surve

5、illance，mineclearanceandsoon．Theworkenvironmentformobilerobotscanbecomplex，2．Thestructureparametersofthetrackunknownandvariableinnaturalcondition．Trackro．robot、thpassiverockerbotshavestrongabilitytoclimbobstaclesandtoa—daptworkenvironmentincomplexcircumstances．ThesimplifiedUGmodelofthe

6、trackrobotwithThustheapplicationoftrackrobotsisquitewide-passiverockerisshowninFigure1．Therobotusesspread『1—3]．sixmotorsindependentlydriveeachcrawlerinorderBasedontheindependenttrackrobot，apassivetochangethespeedoftherobot．Anincompleterota—rockermechanismisaddedinthefrontandrearoftionp

7、airisdesignedbetweentheforearmrockertracktherobotbodyseparately．WhentherobotclimbsandandthemaintrackasshowninFigure2topreventwalksdownthestairs，thepassiverockersinfronttheforearmtracktippingbackward．Thentherotationandrearoftherobotbodycrossthebarrierfirst．Therangeoftheforearmrockertr