摘要
机器人在线行走时需要跨越各种障碍物。文中设计了一种由曲柄滑块机构、摆动导杆机构和槽轮机构组成的越障机构,并阐述了其越障原理。该机构能针对不同的障碍物采取不同的跨越方式完成越障,越障动作简单高效,单自由度控制容易。为高压巡检机器人越障机构的选型提供了一种新的选择。
The robot must overcome various obstacles during its trip on the lines.This paper presents a new obstacle-navigation mechanism that is composed of slider-crank mechanism,swing guide-bar mechanism and Geneva mechanism,and illustrates the operation principle.The mechanism can cross obstacles with different ways of obstacle-navigation according to the different obstacles.It is simple and effective with single degree of freedom.It provides a new choice for the type selection of obstacle-navigation mechanism for high-voltage wire detection robots.
出处
《机械设计》
CSCD
北大核心
2012年第12期25-27,共3页
Journal of Machine Design
基金
国家"863"高科技资助项目(2002AA421220)
关键词
曲柄滑块机构
摆动导杆机构
槽轮机构
越障
巡检机器人
slider-crank mechanism
swing guide-bar mechanism
Geneva mechanism
obstacle-navigation
detection robot
