【摘要】 为提高传统履带移动机构的越障能力和环境适应能力，提出了一种行星式欠驱动可变形履带移动机构，其由履带驱动轮系和行星轮系构成，具有直臂模式、正交模式和过渡模式三种运动模式。该履带移动机构采用欠驱动方式，根据最小耗能原理实现快速响应的越障功能。首先，对履带移动机构进行运动学分析，得到了3种运动模式下履带移动机构的质心高度、接地面积与履带变形的关系，并分析了其适用环境。然后，建立了履带移动机构的动力学理论模型并计算了其可跨越的最大沟槽宽度和可翻越的最大凸台高度，同时分析了履带移动机构变形与越障所需驱动扭矩之间的关系。接着，基于履带移动机构的动力学仿真模型开展越障仿真分析，得到了其越障仿真过程及驱动扭矩变化曲线。最后，搭建了履带移动机构的原理样机并开展了相关实验，验证了其结构设计的可行性。结果表明，所设计的行星式欠驱动可变形履带移动机构可通过控制自身变形实现快速越障和适应复杂地形的功能，显著提高了履带移动机构的越障能力和环境适应能力。更多还原

【Abstract】 To enhance the obstacle-crossing ability and environmental adaptability of conventional tracked mobile mechanisms, a planetary underactuated transformable tracked mobile mechanism is proposed, which is composed of a tracked driving wheel train and a planetary gear train, and has three motion modes: straight arm mode, orthogonal mode and transition mode. This tracked mobile mechanism adopts underactuated pattern, and realizes rapid obstacle-crossing response based on the least energy consumption principle. Firstly, the kinematics analysis was conducted on the tracked mobile mechanism. The relationships among center-of-mass height, ground contact area and track deformation under three motion modes were obtained, and its applicable environment was analyzed. Then, a dynamics theoretical model of the tracked mobile mechanism was established, and its maximum trenchcrossing width and maximum protrusion-surmounting height were calculated. Meanwhile, the relationship between the deformation of the tracked mobile mechanism and the driving torque required for obstacle crossing was analyzed. Next, based on the dynamics simulation model of the tracked mobile mechanism, the obstacle-crossing simulation analysis was carried out, and the obstacle-crossing simulation process and the driving torque variation curve were obtained. Finally, a principal prototype of the tracked mobile mechanism was built and relevant experiments were carried out to verify the feasibility of its structural design. The results show that the designed planetary underactuated transformable tracked mobile mechanism can achieve the functions of rapid obstacle-crossing and adaptation to complex terrains by controlling its own deformation, significantly improving the obstaclecrossing ability and environmental adaptability of the tracked mobile mechanisms.更多还原