【摘要】 针对机器人适应复杂地形的问题,设计了一款新型变形轮结合行星轮的机器人轮腿组合结构,来实现在平整路面工作的同时也适应在阶梯、沟壕等非正常路面工作。该机器人拥有4个独立轮腿运动单元,具有良好的越障性能。通过对其越障结构进行ANSYS性能分析,验证了该结构的合理性。通过比较不同驱动方式的优缺点,确立电机、舵机与车架连为一体的集中驱动方式,规划了其越障过程和前后轮协调步态,以完成行驶和越障等任务。在此基础上,成功设计了一种轮腿式复合机器人。更多还原

【Abstract】 To adapt to the complex terrain,this paper has designed a new type of composite structure for robot,using deformation wheel and planetary wheel to achieve adapation to both smooth pavement and the ladder. The robot has four independent wheel legs and has good ability to cross obstacles. The rationality of the structure is verified by the ANSYS. By comparing the advantages and disadvantages of different drive mode,a drive mode consisting of the motor,the steering gear and the frame is established. The obstacle negotiation process and coordination to front and rear wheels gait are planned to complete driving and obstacle task. On this basis,a wheel-legged composite robot is designed successfully.更多还原