摘要
设计了一种结构简单、承载能力强、越障性能好的新型轮腿式机器人——rolling-wolf。该机器人采用滚珠丝杠驱动轮腿运动,有效改善了以往轮腿式机器人的力学性能,提高了系统的承载能力以及轮腿机构的稳定性。首先将所设计的rolling-wolf和普通关节式轮腿机器人的力学特性进行了对比分析,分析结果表明rolling-wolf轮腿机构在力学特性上具有优越性。然后建立了rolling-wolf的运动学模型,并使用MATLAB对三种不同结构的rolling-wolf的轮腿运动包络域进行了求解。最后,根据对不同结构的rolling-wolf运动特性分析结果,选择了具有最佳运动特性的轮腿机构,完成了机器人整体结构设计。
This paper presented a new kind of wheel -legged rover---rolling-wolf,which was simple but possessed strong structure stability ,good load distribution and excellent motion perform-ance .Rolling -wolf was driven by means of ball screws and sliders instead of the generally method of adding driving motors to the joints directly .The mechanical properties of rolling-wolfand the ordina-ry articulated wheel -legged robots were analyzed and compared at first .And then ,the kinematic model of rolling-wolfwas built ,and three kinds of rolling -wolfs with different structure configura-tions were introduced .The motion envelope domains which evaluate their kinematic characteristics were solved in MATLAB based on the kinematic model .Finally ,the overall structural design of rolling-wolf was finished based on the solution results .
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2013年第22期3018-3023,共6页
China Mechanical Engineering
