被动行星爬楼移动平台机构设计及分析

提出一种用于爬楼越障的移动平台，对移动平台的具体结构及爬楼越障能力进行分析。移动平台由4组相同行星轮机构组成。平地行走时，移动平台行星机构在重力作用下平顺行走；爬楼时，行星机构被动抬起从而实现爬楼功能。通过简化力学模型分析移动平台车轮半径与垂直越障高度之间的关系，并用动力学仿真软件Adams对理论分析结果进行对比分析，验证分析结果。通过爬楼实验实际检验了其爬楼能力。

The Passive Planetary Stair-climbing Mobile Platform Structure Design and Analysis

This paper presents a prototype of mobile platform specialized in stair-climbing and obstacle-crossing. Based on the planetary structure, which is the main part of the platform, the stair-climbing ability is well analyzed. The planetary structure ensures smooth-going when the platform is walking on the ground. In climbing stairs cases, the planetary is passively lifted so that the platform will go upstairs easily. Relationship between the wheels radius of mobile platform wheels and its obstacle-crossing ability is raised after dynamic analysis, and is verified by Adams simulation. Finally, the stair-climbing experiment proves the correctness and effectiveness of this design.