多适应性轮履复合载物移动系统的设计

针对复杂的非结构化工作环境，为提高载物移动能力，提出了一种具有多适应性的新型轮履复合式移动系统。该移动系统由变径步行轮和履带系统组成，既发挥了轮式结构平地行走的转弯灵活性和运动高效的特点，又结合了履带式结构爬坡时良好的稳定性和适应性。同时，为进一步提高爬坡时货物的安全性，设计了自适应载物升降平台，通过陀螺仪运用卡尔曼算法进行平台倾角的闭环控制，实现了平台的水平载物。运用RECURDYN软件进行动力学仿真,并制作了实物模型实施了验证，结果表明：该移动系统具有较好的复杂工作环境的适应性和载物的平稳性。

Design and Analysis of Wheel-track Composite Loading Locomotion System with High Adaptability

A new type of travel mechanism combined wheel and track was based on different kinds of complex unstructured pavement conditions. The wheel-track composite mechanism was mainly composed of diameter-variable wheel component and crawler system. This structure gave full play to the characteristics of the high efficiency of the wheel structure，and shown the crawler system which enhanced the stability of the whole machine and good adaptability to the ground. Simultaneously, an adaptive loading-lifting platform was designed. In order to achieve the horizontal platform always, the closed-loop control was established to the degree of platform by using Kalman filter algorithm through Gyroscope. A dynamic model was established for verification of climbing stairs performances by using RECURDYN. The results show that this new locomotion system has good adaptability for complex conditions and stability for maintaining loading platform, which has certain reference values for the design of associated transport machinery.