【摘要】 传统的以轮式底盘运行的小型地面移动机器人运行效率高、速度快,但是越障能力差。利用平行四边形连杆机构和行星轮传动机构的特点,并将这两种机构应用于被动越障地面移动机器人的结构设计,能有效提升轮式小型地面移动机器人的越障能力。一定程度上,这将避免由于连杆机构出现死点而导致失效的情况发生。详述了该地面移动机器人的结构,将其越障过程动作分为不同状态,求解了其结构尺寸需要满足的约束条件,并给出了一组可行的结构尺寸。最后利用ADAMS软件针对设计尺寸建立新型小型地面移动机器人的虚拟样机模型,通过仿真实验验证该地面移动机器人的可行性及其卓越的越障能力。更多还原

【Abstract】 Traditional small unmanned ground vehicle which is used the wheels has high efficiency and fast speed. However,its ability for obstacle surmounting is poor. Using the characteristics of parallelogram links and planetary wheel transmission mechanism to apply to the small unmanned ground vehicle which use the passive obstacle surmounting. By using this kind of structure,It will promote the wheeled robots’ ability for obstacle surmounting effectively. To a certain extent,it will avoid the linkage appear dead point which may cause failure. Described the structure of the small unmanned ground vehicle for details. It gives the constraint conditions and a set of feasible size. Finally,using ADAMS to establishing virtual prototype,through the simulation results verify the feasibility of the small unmanned ground vehicle and its remarkable ability of obstacle surmounting.更多还原