摘要
基于研发可适应多种结构化及非结构化地形的移动机器人平台的需求,就复合式越障机器人动力学性能展开研究。首先在Recurdyn平台上建立了主从履带复合式越障机器人的虚拟样机,建立了其与平地硬质及软性地面的接触模型,并在这两种路面上进行行驶仿真。根据仿真结果,得到机器人平地前进的动力学数据,并对机器人的结构设计提出一定建议。
Based on the need of mobile robot which can adapt various structured and unstructured terrain, compound-over-ob- stacles robot is proposed and its kinematics performance is studied in this paper. First, the virtual prototype of Master/slave- tracked over-obstacle robot is set up in Recurdyn according to design parameters, also the contacts between the robot and the ground（ including hard and soft） are built up. The traveling state, kinematics parameters of prototype are got through simula- tion. And some suggestions for design are proposed based on simulation results.
出处
《机械研究与应用》
2013年第4期52-55,共4页
Mechanical Research & Application
