| 双曲柄机构在移动机器人中的应用与优化 |
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| 引用本文： | 陈世荣,许旻,杨杰. 双曲柄机构在移动机器人中的应用与优化[J]. 中国机械工程, 2007, 18(10): 1139-1142 |
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| 作者姓名： | 陈世荣 许旻 杨杰 |
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| 作者单位： | 中国科学技术大学,合肥,230027 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 根据双曲柄四杆机构的特点，将其用于被动式复杂地形移动机器人的结构设计，提高了机器人的越障能力。通过对双曲柄四杆机构的几何分析，得出地形适应性强的前轮轨迹曲线。弹簧在双曲柄四杆机构中的安装位置及其刚度对机器人前轮、中轮和后轮的受力都有影响，通过对双曲柄四杆机构的静力学分析优化了弹簧在四杆机构中的安装位置。
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| 关 键 词： | 机器人 双曲柄机构 优化 静力学分析 |
| 文章编号： | 1004-132X（2007）10-1139-04 |
| 修稿时间： | 2006-03-23 |
Design and Optimization of Fork Using in Robot |
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| Chen Shirong,Xu Min,Yang Jie. Design and Optimization of Fork Using in Robot[J]. China Mechanical Engineering, 2007, 18(10): 1139-1142 |
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| Authors: | Chen Shirong Xu Min Yang Jie |
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| Affiliation: | University of Science and Technology of China, Hefei,230027 |
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| Abstract: | The double crank mechanism was employed in robots which were mobile on rough terrain for its special characteristics. Through geometrical analysis, a particular curve was selected because it could enhance the ability of climbing over step. The parameter and fixing position of spring affect the normal force of front wheel. According to the static analysis,the parameter and fixing position of the spring were optimized. |
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| Keywords: | robot double crank mechanism optimization static analysis |
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