一种关节式轮履混合机器人的设计与运动分析

摘要

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.%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。