一种主动适形越障机器人的设计与特性分析

针对非道路环境的特点,提出一种适用于非道路条件下的新型主动适形越障机器人的设计过程.这种越障机器人采用了将轮履带式移动机构与主动式机械臂相结合的创新设计,保留了轮履带式移动机构能够适应多种地面条件的优点,进一步增强了机器人穿越壕沟、台阶、高台、单侧障碍等典型地形的能力,具有良好的环境适应能力.为检验设计方案的有效性,应用虚拟样机技术对该机器人在几种典型地形条件下的运动特性进行了分析,取得了令人满意的效果.

Design and Dynamic Simulation of a Kind of Active Terrain Adaptive Vehicle

According to the property of the off-load environment, the design process of a kind of active terrain adaptive vehicle (ATAV) which can be used in the off-load environment is proposed. The innovative design that combines wheel-track locomotion with active manipulator is applied on ATAV, which maintains the original merit of wheel-track locomotion and enhances the ability to traverse the typical terrain such as ditch, stair, pathpace and mono-obstacle. In order to verify the effectiveness of the design, virtual prototype is applied to analyze the dynamic performance of the robot working in several terrains. The simulation result is satisfactory.