摘要
针对现有的关节式移动机器人在越障以及姿态调整上存在的不足,在东华大学变位四履带足行走机构专利的基础上,自行设计研制了一种新型的关节履带式机器人行走机构,通过确立该机器人的越障高度与车体参数之间的关系,并与传统的机器人行走机构进行比较,证明了该行走机构具有很强的越障和姿态调整能力,目前该机构已成功获得专利。
The analysis of climbing obstacle capability of the Articulated track mobile robot with four tracked feet, which was developed by Donghua University, is presented. The relations between rover parameters and perpendicular climbing obstacle height is given. The comparison between this mobile mechanism and general tracked mobile mechanism is also discussed. It approves that this mobile mechanism has great superiority in climbing obstacle and stability when climbing.
出处
《机械工程师》
2009年第4期97-99,共3页
Mechanical Engineer
关键词
关节履带式移动机器人
姿态调整
越障
稳定性
joint-tracked mobile robot
obstacle negotiation
posture control
stability
