可变形履带机器人跨越台阶的动力学分析

针对各种灾难过后复杂的地理环境,设计了一种具有平行四边形结构的可变形履带机器人.为了计算机器人在运动过程中的电机驱动力和地面支持力,对机器人上台阶过程进行了运动分析,利用牛顿欧拉方法建立了其跨越台阶的动力学模型,并对其运动稳定性进行了实验.实验结果表明,机器人能够根据运行环境采取不同的运动方式,具有很强的越障能力,适用于崎岖山路、瓦砾及楼梯等复杂环境.此研究可为机器人的运动控制提供借鉴.

Dynamic analysis for variable tracked robot in process of climbing steps

Aiming at the complex environments after disasters, a variable parallelogram tracked mobile robot （VPTMR） was designed. In order to calculate the motor driving force and ground supporting force of robot in the moving process, the motion analysis for the robot in the process of climbing steps was performed, and the dynamical model for the robot in the process of climbing steps was established with the Newton Euler method. In addition, the motion stability of robot was tested. The results show that the designed robot can adopt different movement modes according to the operating environments, has strong ability to climb the 〖JP3〗obstacles, and can be applied to such complex environments as the rugged road, debris and stairs. Furthermore, 〖JP〗the study can provide a good foundation for the motion control of robot.