CAJ | 학술논문

提出了一种基于四连杆机构的微小型履带式机器人结构,通过履带变形实现了机器人重心的偏移,有利于机器人的越障.采用数值计算方法着重分析了其翻越垂直路障的性能,并使用RecurDyn进行了虚拟样机运动学仿真.仿真结果和物理样机试验表明,机器人具有良好的垂直障碍通过能力.
제출료일충기우사련간궤구적미소형리대식궤기인결구,통과리대변형실현료궤기인중심적편이,유리우궤기인적월장.채용수치계산방법착중분석료기번월수직로장적성능,병사용RecurDyn진행료허의양궤운동학방진.방진결과화물리양궤시험표명,궤기인구유량호적수직장애통과능력.
A miniature tracked structure,based on four links mechanism is presented.The gravity center of robot could be transferred by the deformation of tracks,which is propitious to surmount the obstacle.The performance of surmounting vertical obstacle is analyzed via numerical computition.The kinematic simulation of robot's virtual prototype is completed by using RecurDyn.The results of simulation and teat on prototype indicate that the robot has preferable capability of surmounting vertical obstacle.