关节式双履带移动机器人越障稳定性分析

通过对外部环境的复杂情况及各类影响因素的观测与分析,设计了一种基于非结构环境的关节式双履带移动机器人,该机器人平台由前、后两壳体组成,两壳体由旋转关节相连接,调节式活动装置和履带压紧机构的设计保证了机器人的越障稳定性。在此基础上,以攀越二维崎岖地形、正斜坡地形以及楼梯等三种典型地形为例,对机器人的越障稳定性进行分析和仿真。最后经过实验验证关节式双履带移动机器人的结构设计的合理性和理论分析的正确性。

Stability analysis of obstacle-crossing for articulated dual-track mobile robot

Based on the observation and analysis of complex external environment and various influencing factors, this paper designs an articulated dual-track mobile robot based on unstructured environment. The robot platform consists of front and rear shells, which are connected by rotating joints, adjustable movable devices and crawler tightening mechanism. The obstacle-crossing stability of the robot is proved. On this basis, taking climbing two-dimensional rugged terrain, normal slope terrain and staircase as examples, the obstacle-crossing stability of the robot is analyzed and simulated. Finally, the rationality of the structure design and the correctness of the theoretical analysis of the articulated dual-track mobile robot are verified by experiments.