摘要
In order to improve the robot's obstacle-climbing capability,a new bionic deformable planetary-wheeled robot based on the modular design was proposed. It mainly consisted of planetary wheels to surmount obstacles,a transformable chassis and an averagely segmentation body. The mobile system of the robot was mainly designed while considering the chassis transformability; a deformable four-bar linkage was adopted,which could realize the robot's wheelbase conversion from storing to driving. To improve the wheels' capability of obstacle-climbing,planetary wheels were adopted. At the same time,passive adaptation to various terrains was considered in the body design and an averaging system was included,which ensured that the planetary wheels could land simultaneously in rugged grounds. The robot's steering mode was analyzed and its kinematics model was built,which provided the theoretical evidence for studying the robot motion control.
In order to improve the robot＇s obstacle-climbing capability,a new bionic deformable planetary-wheeled robot based on the modular design was proposed. It mainly consisted of planetary wheels to surmount obstacles,a transformable chassis and an averagely segmentation body. The mobile system of the robot was mainly designed while considering the chassis transformability; a deformable four-bar linkage was adopted,which could realize the robot＇s wheelbase conversion from storing to driving. To improve the wheels＇ capability of obstacle-climbing,planetary wheels were adopted. At the same time,passive adaptation to various terrains was considered in the body design and an averaging system was included,which ensured that the planetary wheels could land simultaneously in rugged grounds. The robot＇s steering mode was analyzed and its kinematics model was built,which provided the theoretical evidence for studying the robot motion control.
基金
National Natural Science Foundation of China(No.51305254)
the Shanghai University of Engineering Science High Level Project to Cultivate Special,China(No.2012gp05)
the 2012 National College Students' Innovation and Entrepreneurship Training Program,China(No.201210856001)
