| 具有越障功能的小型地面移动机器人 |
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| 引用本文： | 段星光,黄强,李京涛.具有越障功能的小型地面移动机器人[J].机械设计,2006,23(4):38-41. |
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| 作者姓名： | 段星光 黄强 李京涛 |
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| 作者单位： | 北京理工大学,机电工程学院,北京,100081 |
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| 摘 要： | 针对在危险环境下对移动机器人的运动要求，研究了机器人系统的总体设计，提出了一种具有越障功能的小型地面轮履复合式移动机器人，阐述了其机构设计度其实现。分析了谊机器人通过台阶、斜面、楼梯等障碍时的越障特性。研制完成的第一台样机具有结构简单、体积小、质量轻的特点，通过实验验证了该机器人运动灵活，具有很好的环境适应性和越障能力。
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| 关 键 词： | 移动机器人 运动姿态 越障 运动特性 |
| 文章编号： | 1001-2354（2006）04-0038-04 |
| 收稿时间： | 2005-11-05 |
| 修稿时间： | 2005-11-052005-12-20 |
Small sized ground mobile robot with surmounting obstacle function |
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| DUAN Xing-guang,HUANG Qiang,LI Jing-tao.Small sized ground mobile robot with surmounting obstacle function[J].Journal of Machine Design,2006,23(4):38-41. |
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| Authors: | DUAN Xing-guang HUANG Qiang LI Jing-tao |
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| Affiliation: | School of Mechanical and Electronic Engineering, Beijing University of Science and Engineering, Beijing 100081, China |
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| Abstract: | Aimed at the motion requirements on mobile robots under dangerous environment, the overall design of robotic system was studied. A kind of small sized compound wheel caterpillar typed ground mobile robot has been put forward, and the mechanism design and its realization were expounded. The surmounting obstacle features of this robot while passing through obstacles of a flight of steps, oblique plane, and staircases etc. were analyzed. The first prototype being developed possesses the characteristics of simplicity structure, small volume, and less weight. By means of experiment it is verified that this robot moves dexterously and quickly and possesses good environmental adaptability and surmounting obstacle ability. |
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| Keywords: | mobile robot moving posture surmounting obstacles motion characteristics |
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