| 新型轮—腿—履带复合移动机构及稳定性分析 |
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| 引用本文： | 赵海峰,李小凡,姚辰,王忠.新型轮—腿—履带复合移动机构及稳定性分析[J].机器人,2006,28(6):576-581. |
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| 作者姓名： | 赵海峰 李小凡 姚辰 王忠 |
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| 作者单位： | 中国科学院沈阳自动化所,辽宁,沈阳,110016;中国科学院研究生院,北京,100049;中国科学院沈阳自动化所,辽宁,沈阳,110016 |
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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： | 为提高反恐防暴机器人对非结构环境的适应能力，设计出了一种具有良好的机动性能和转向性能的新型轮—腿—履带复合移动机构．通过机器人机构分析与本体的稳定性分析，论证了其结构设计的可行性及好的稳定性．
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| 关 键 词： | 移动机构 非结构环境 轮-腿-履带复合机构 稳定性 |
| 文章编号： | 1002-0446（2006）06-0576-06 |
| 收稿时间： | 2005-12-01 |
| 修稿时间： | 2005-12-01 |
A Novel Wheel-Leg-Track Complex Mobile Mechanism and Its Stability Analysis |
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| ZHAO Hai-feng,LI Xiao-fan,YAO Chen,WANG Zhong.A Novel Wheel-Leg-Track Complex Mobile Mechanism and Its Stability Analysis[J].Robot,2006,28(6):576-581. |
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| Authors: | ZHAO Hai-feng LI Xiao-fan YAO Chen WANG Zhong |
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| Affiliation: | 1. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China |
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| Abstract: | To enhance adaptability of the Explosives Ordnance Disposal(EOD) robot to unstructured environment,a novel wheel-track-leg complex mobile machine is put forward,which has good mobility and steering performance.It is demonstrated by analyzing the robot mechanism and its stability that the structure design is feasible and has good stability. |
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| Keywords: | mobile mechanism unstructured environment wheel-leg-track complex mechanism stability |
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