摘要
针对地震灾后人员较难对环境进行探测问题,设计了一种仿生足式探测机器人。分析了工作机理,利用SolidWorks进行结构设计,制作了实物样机,并进行了试验测试。结果表明:探测机器人闭合时尺寸为300 mm×200 mm×150mm,选用MG90舵机和JGY蜗轮蜗杆减速马达,机器人直行速度为173.08 mm/s,转动速度为0.24 rad/s,完全可以实现在复杂地面直行和转向、重心调整、翻身及假寐等功能,装置运行平稳,无卡顿现象,为救援探测机器人设计奠定了基础。
After the earthquake,a bionic foot detecting robot was created to handle the problem of challenging environmental detection by personnel.The functioning mechanism was investigated,the structure was planned with SolidWorks,a physical prototype was built,and experimental tests were carried out.The detecting robot’s closed size was 300 mm×200 mm×150 mm,the MG90 servo and JGY worm gear motor were used.The robot has a straight travel speed of 173.08 mm/s and a rotation speed of 0.24 rad/s,according to the realizes.It can fvealize the functions of straight travel and steering,center of gravity adjustment,turning,and fake sleep on the complex ground,while also running smoothly and without jams.
作者
臧福堃
赵建策
李红双
ZANG Fu-kun;ZHAO Jian-ce;LI Hong-shuang(School of Mechatronics Engineering,Shenyang Aerospace University,Shenyang 110136;College ofAeronautics andAstronautics,ShenyangAerospace University,Shenyang 110136)
出处
《机械设计》
CSCD
北大核心
2022年第S01期71-74,共4页
Journal of Machine Design
基金
国家级大学生创新创业计划训练项目
关键词
探测机器人
仿生
救援
detection robot
bionic
rescue
