轮足混合式移动机器人转向机构力学特性分析

为适应山地等复杂地形的要求，设计一种适用于轮足混合式移动机器人的新型转向机构。对其进行整体受力分析与关键零部件受力分析，建立理论上的受力分析公式；利用Solidworks Simulation对关键零部件进行静力学仿真分析实验，并将仿真结果与理论分析结果进行比较。结果表明：该转向机构具备可靠性，能解决传统转向机构不能将车轮大幅度抬起的问题。

Mechanical Characteristics Analysis of Steering Mechanism of Wheel-foot Hybrid Mobile Robot

In order to meet the requirements of complex terrain such as mountains, a new steering mechanism suitable for wheel-foot hybrid mobile robots is designed. The overall force analysis and the force analysis of key parts are carried out, and the theoretical force analysis formula is established; the static simulation analysis experiment of key parts is carried out by Solidworks Simulation, and the simulation results are compared with the theoretical analysis results. The results show that the steering mechanism is reliable and solves the problem that the traditional steering mechanism cannot lift the wheel greatly.