针对复杂的室外环境,设计了一种轮履组合式环保机器人,阐述轮履变换装置的结构实现形式,并设计其保护装置,保证轮履变换的稳定性,机器人可根据所处的环境变换行走机构,提高了机器人对环境的适应能力.在UG NX中建立机器人的三维模型,分别建立机器人车轮在非滑移状态下以及滑移状态下移动车体的运动学、动力学模型,同时建立非滑移状态下机器人整体的运动学、动力学方程,分析机械手与车体之间的耦合性,并运用Mat-lab进行动力学数值仿真.结果表明在低速运行条件下两者之间的耦合并不十分明显,但耦合是存在的.所得结果为以后机器人控制系统设计提供了理论依据.%According to the complicated environment of the outdoors,a wheeled-tracked environmental robot was designed,the structure realization of the track-wheel device was expounded,also the protection device was designed to ensure the stability of the transformation. The mobile mechanism of robots may be changed according to the changing environment so as to improve the robot adaptation ability to the environment. A model was established in UG NX. Both the kinematic and the dynamic model of the robot with the wheels in the non-slip and slip condition were separately established.also Lagrange dynamics equation in the non-slip condition was built, the dynamitic coupling between the manipulator and mobile platform was analysed,the numerical simulation was finished in Matlab,it is concluded that the coupling between the two is not very clear in the low speed, but it is real in presence,the results provide a theoretical basis for the control system.
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