| 主从履带复合式机器人越障研究 |
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| 引用本文： | 殷春武.主从履带复合式机器人越障研究[J].计算机工程,2012,38(23):203-205. |
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| 作者姓名： | 殷春武 |
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| 作者单位： | 西京学院基础部,西安,710123 |
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| 基金项目： | 陕西省自然科学基础研究计划基金资助项目，陕西省科技型中小企业技术创新基金资助项目 |
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| 摘 要： | 针对机器人越障过程中的重心位置变化情况，提出一种主从履带复合式机器人越障研究方法。给出机器人样机模型，研究样机的重心变化规律和主履带系统链轮的负载扭矩变化规律，并进行越障和楼梯仿真分析。仿真结果表明，重心变化是影响越障和爬越楼梯成功与否的关键因素，样机重心位置发生变化时，履带系统链轮转矩将出现最大值。
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| 关 键 词： | 履带 越障 机器人 虚拟样机 重心 转矩 |
| 收稿时间： | 2011-12-23 |
Research on Obstacle Negotiation of Master-slave Track Compound Robot |
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| YIN Chun-wu.Research on Obstacle Negotiation of Master-slave Track Compound Robot[J].Computer Engineering,2012,38(23):203-205. |
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| Authors: | YIN Chun-wu |
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| Affiliation: | YIN Chun-wu(Department of Foundation,Xijing University,Xi’an 710123,China) |
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| Abstract: | According to the center of gravity location changing in robot obstacle negotiation, a kind of master-slave tracked compound robot obstacle negotiation research method is put forward in this paper. The robot prototype model is given. The researches of prototype focus variation and main crawler system chain wheel load torque variation, and simulation analysis of obstacle and stairs are preceded. Simulation result shows that the change of gravity is a key factor in obstacle and climbing the stairs. There is a maximum wheel torque when the prototype crawler system changes. |
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| Keywords: | track obstacle negotiation robot virtual prototype center of gravity torque |
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