摘要
针对海底特殊地形地貌,结合水下机器人行走机构研究现状,设计出一种新型水下行走机器人,并对机器人进行越障性能数学分析。该机器人克服了原有水下机器人易倾覆、越障能力差等缺点,采用前向四杆引导机构做越障引导机构,结合并联伸缩底盘和尾部平衡机构,以及自适应地面的履带足,可以翻越较高台阶和攀爬较大坡度斜坡,大大提高了机器人的越障能力和对复杂地面的适应能力。
According to the seabed terrain and the present situation of seafloor robot running gear research, a new type of seafloor robot is presented,and the mathematical analysis of obstacle crossing performance to the robot is carried on. The robot has overcome the shortcomings of original underwater robot as easy to overturn and low obstacle crossing performance ,four pole guidance organizations is used as the obstacle crossing guidance organization. What＇s more,the expanding and contracting parallel chassis,the rear part and auto-adapted ground caterpillar band foot makes the robot be available to surmount higher stair and climb up steeper pitch,so the robot＇s obstacle crossing ability and adaptiveness of complex ground are greatly improved.
出处
《机械设计与制造》
北大核心
2009年第5期168-170,共3页
Machinery Design & Manufacture
关键词
水下越障机器人
前向四杆引导机构
并联伸缩底盘
履带足
越障性能
Seafloor robot
Four pole guidance organization
Expanding and contracting parallel chassis
Caterpillar band foot
Obstacle crossing performance
