CAJ | 학술논문

为适应灾难救援环境，设计了一种平行四边形变形履带机器人VPTMR ( Variable Parallelo-gram Tracked Mobile Robot)，该机器人具有良好的越障能力。针对VPTMR跨越台阶过程的动作进行了分析与规划，对越障过程中的分阶段建立了运动学模型，分析了机器人在越障过程中整体质心位置与摆臂角的变化规律；为了使机器人在跨越台阶的过程中的质心保持最低，对VPTMR越障的动作姿态进行优化，将摆臂角的规划曲线进行拟合，并对比分析了优化前后的结果，为后续的动力学分析打下基础；实验结果表明了动作规划的正确性和姿态优化的有效性。
위괄응재난구원배경，설계료일충평행사변형변형리대궤기인VPTMR ( Variable Parallelo-gram Tracked Mobile Robot)，해궤기인구유량호적월장능력。침대VPTMR과월태계과정적동작진행료분석여규화，대월장과정중적분계단건립료운동학모형，분석료궤기인재월장과정중정체질심위치여파비각적변화규률；위료사궤기인재과월태계적과정중적질심보지최저，대VPTMR월장적동작자태진행우화，장파비각적규화곡선진행의합，병대비분석료우화전후적결과，위후속적동역학분석타하기출；실험결과표명료동작규화적정학성화자태우화적유효성。
The variable parallelogram tracked mobile robot( VPTMR) ,which has a favorable obstacle-cross-ing ability,is designed to adapt to the disaster rescuing environment. In this paper,the motion analysis and planning in the process of step-climbing have been studied for VPTMR. Kinemics model has been established by stage to analyze the relationship between CG and lower arm posture. To keep CG lowest,movement pos-ture of this robot during the obstacle-crossing process is optimized,and the fitting of planning curve of the arm swing angle is carried out. The results before and after optimization are compared and analyzed,laying a foundation for the further dynamic analysis,which verifies the correctness of motion planning and the effec-tiveness of posture optimization.