CAJ | 학술논문

依据平行四边形悬挂机构的运动特性设计的轮式移动机器人具有良好的越障性能，通过结合摆臂和行星轮机构而设计的新型轮腿式地面移动机器人克服了原有机器人不能跨沟的缺陷，对外界非结构化的路面环境具有良好的适应能力。详述了该新型轮腿式机器人的结构特点，对该机器人的运动特性进行了分析，并利用拉格朗日方程建立了该机器人越障状态下的动力学模型。采用一组可行的结构尺寸，利用 ADAMS 软件建立虚拟样机模型验证了该地面移动机器人的可行性。
의거평행사변형현괘궤구적운동특성설계적륜식이동궤기인구유량호적월장성능，통과결합파비화행성륜궤구이설계적신형륜퇴식지면이동궤기인극복료원유궤기인불능과구적결함，대외계비결구화적로면배경구유량호적괄응능력。상술료해신형륜퇴식궤기인적결구특점，대해궤기인적운동특성진행료분석，병이용랍격랑일방정건립료해궤기인월장상태하적동역학모형。채용일조가행적결구척촌，이용 ADAMS 연건건립허의양궤모형험증료해지면이동궤기인적가행성。
According to the movement characteristics of parallelogram links mechanism, aovercloed UGV had remarkable performance of obstacle??surmounting.The new type wheel??legged UGVme the defects that the previous UGV could not cross the groove by adding swing arms and tphlanet gears.It had good adaptability to the unstructured ground.The paper described the structure ofnaemwheel??legged UGV in details,and analyzed the movement characteristics,and established the dyGsibleicsst model by using the Lagrange equation.Finally,a virtual prototype was built for a group of feaGructure size,and the simulation results based on ADAMS software verify the feasibility of the wheel??legged UGV.