| 一种多姿态便携式履带机器人传动和结构设计 |
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| 引用本文： | 肖俊君,尚建忠,罗自荣. 一种多姿态便携式履带机器人传动和结构设计[J]. 机械设计, 2007, 24(3): 10-12 |
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| 作者姓名： | 肖俊君 尚建忠 罗自荣 |
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| 作者单位： | 国防科技大学,机电与自动化工程学院,湖南,长沙,410073;国防科技大学,机电与自动化工程学院,湖南,长沙,410073;国防科技大学,机电与自动化工程学院,湖南,长沙,410073 |
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| 摘 要： | 提出了一种新型4自由度便携式履带机器人结构设计方案.机器人采用三段式模块化设计,可迅速拆卸,适合单人携带和进行维护;机器人具有良好的机动性能,在越障、跨沟、攀爬方面具有明显优势.介绍了机器人的结构特点及其运动功能实现,并围绕传动设计和结构设计两大方面,对机器人的传动结构布局、传动实现、模块化结构设计、抗冲击结构设计等内容进行了详细阐述.
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| 关 键 词： | 便携式履带机器人 机器人结构设计 模块化设计 |
| 文章编号： | 1001-2354（2007）03-0010-04 |
| 修稿时间： | 2006-08-142006-11-17 |
Design of transmission and structure of a kind of multi posed portable pedrail robot |
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| XIAO Jun-jun,SHANG Jian-zhong,LUO Zi-rong. Design of transmission and structure of a kind of multi posed portable pedrail robot[J]. Journal of Machine Design, 2007, 24(3): 10-12 |
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| Authors: | XIAO Jun-jun SHANG Jian-zhong LUO Zi-rong |
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| Affiliation: | Electro-Mechanical and Automation Engineering, National Defence University of Science and Technology, Changsha 410073, China |
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| Abstract: | The structural designing scheme of a new kind of 4DOF portable pedrail robot has been put forward. The three segmented modularized design was adopted for the robot, it could be rapidly disassembled and is suitable for carrying about by single person or carrying out maintenance. The robot has good flexible property and possesses evident superiority in the aspects of getting over obstacles, striding over ditches and climbing. The structural characteristics of robot and realization of its kinematic functions were introduced. And encircle two main aspects of traditional design and structural design to carry out detailed exposition on the contents of transmission structural layout, realization of transmission, modularized structural design and shock resisting structural design etc. of robot. |
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| Keywords: | portable typed pedrail robot robot structural design modularized design |
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