【摘要】 自然灾害或意外事故发生后,往往需要借助机器人来深入灾难现场探明情况或提供援助。通过参考已经成功应用的轮腿式行星探测机器人结构,针对灾后现场特殊非结构化地形,设计了一种5轮4摆臂结构的新型搜救机器人。通过对关键部件进行参数设计及静力学分析,验证了静态特征的合理性;对越障过程进行数学建模,得出了影响机器人越障高度的因素;对其进行虚拟样机仿真,验证了动态特征的合理性以及数学建模的正确性。最后,通过搭建实验平台,验证了所设计机器人的越障能力。为今后类似的轮式机器人设计提供了理论基础,具有一定参考意义。更多还原

【Abstract】 After the occurrence of natural disasters or accidents,robots are often needed to go deeply into the disaster site to find out the situation or provide assistance. The structure of wheel-legged planetary probe robot is successfully applied by reference,for the special unstructured terrain of the post-disaster site,a new search and rescue robot with five wheels and four swinging arms is designed for the special unstructured terrain in the disaster site. Through the parameter design and statics analysis of the key components,the rationality of static feature is verified,and the mathematically modeling of process of obstacle crossing is carried out,the factors that affect the height of the robot obstacle surmounting are obtained. Then the virtual prototype simulation is carried out to verify the rationality of the dynamic characteristics and the correctness of the mathematical modeling. Finally,an experimental platform is built to verify the obstacle surmounting ability of the designed robot,which provides a theoretical basis for the design of similar wheeled robots in the future and has a certain reference significance.更多还原