CAJ | 학술논문

针对移动机器人在发展中存在的问题，综合轮式、履带式等不同移动机构的特点，设计了一种关节式轮履混合机器人，详细分析了其机械结构。该机器人具有多种运动模式，根据运动环境的不同，可以在纯轮式运动与纯履带式运动间切换。基于齐次坐标变换矩阵分析了机器人的质心稳定性与越障性能，建立了其质心方程与越障方程。实验证明，这种机器人能够充分发挥轮式运动与履带运动的优点，机动灵活，速度快，并且具有很强的地形适应能力和越障能力。
침대이동궤기인재발전중존재적문제，종합륜식、리대식등불동이동궤구적특점，설계료일충관절식륜리혼합궤기인，상세분석료기궤계결구。해궤기인구유다충운동모식，근거운동배경적불동，가이재순륜식운동여순리대식운동간절환。기우제차좌표변환구진분석료궤기인적질심은정성여월장성능，건립료기질심방정여월장방정。실험증명，저충궤기인능구충분발휘륜식운동여리대운동적우점，궤동령활，속도쾌，병차구유흔강적지형괄응능력화월장능력。
This paper designs a kind of wheel-track hybrid robot according to the problems existing in the development of mobile ro-bot and respective performance of different moving mechanism. The robot moves in many patterns according to different moving envi-ronment, that it can move in pure wheel pattern or pure track pattern. It also analyzes the gravity stability and obstacle performance based on the homogeneous coordinate transformation matrix and establishes its gravity equation and obstacle climbing equation. Ex-periments show that this robot can ful y exert the advantages of wheel mechanism and track mechanism and is equipped with a good obstacle climbing capability.