| 一种新型轮腿配合式管道机器人设计 |
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| 引用本文： | 高宏,黄民,李天剑,韩春茂.一种新型轮腿配合式管道机器人设计[J].现代机械,2011(3):52-54,89. |
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| 作者姓名： | 高宏 黄民 李天剑 韩春茂 |
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| 作者单位： | 北京信息科技大学机电工程学院，北京，100192 |
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| 摘 要： | 本文提出一种新型轮腿配合式管道机器人的设计思想。这种机器人通过轮式驱动和腿式驱动二者的相互配合,兼有轮式机器人移动速度快及腿式机器人环境适应能力强等优点。文章对整体方案进行设计,针对腿式驱动系统,做了步态协调与机器人行进分析,设计的凸轮机构及重心偏移系统,实现了机器人腿式行进时的平稳行走,设计有一定创新性。
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| 关 键 词： | 轮腿机器人 凸轮机构 重心偏移 步态协调 |
Design of a New Kind of In-pipe Robot Used Legs Cooperate with Wheels |
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| GAO Hong,HUANG Min,LI Tianjian,HAN Chunmao.Design of a New Kind of In-pipe Robot Used Legs Cooperate with Wheels[J].Modern Machinery,2011(3):52-54,89. |
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| Authors: | GAO Hong HUANG Min LI Tianjian HAN Chunmao |
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| Affiliation: | GAO Hong,HUANG Min,LI Tianjian,HAN Chunmao |
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| Abstract: | In this paper a new kind of in-pipe robot is designed.The robot used legged driving cooperate with wheeled driving.It has some advantages such as moving speed by wheeled driving and environment adaptiveness by legged driving.Based on the overall program design,legged driving system does a gait analysis along with the robot coordinate.The robot can move stable by cam mechanism and the gravity shift system.The design has certain innovation. |
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| Keywords: | robot used legs cooperate with wheels cam mechanism the gravity shift gait coordination |
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