六轮柔体移动机器人

摘要

A kind of six-wheeled flexible mobile robot linked by two non-orthogonal joints is discussed in this paper. Each wheel of the flexible mobile robot can be driven individually. The unique construction of the six-wheeled flexible chassis provides unusual articulation for steering, overcoming obstacles and accommodating 3-D terrain. Finally the equation of the variables controlling robot configuration is given.%提出一种由非正交关节连接的六轮柔体移动机器人概念模型，并对其进行了讨论。机器人的每个车轮都可以独立驱动；机器人独特的六轮柔性底盘结构提供了不寻常的关节（具有2个自由度的非正交关节）连接，以使柔体移动机器人实现转向、越障和适应三维复杂地形。最后，文中给出了姿态控制变量表达式。