履带式救援机器人行走系统设计

摘要

在分析典型灾难环境的基础上,采用模块化设计思想,提出了一种6自由度四摆臂履带式救援机器人行走系统总体方案和传动系统结构方案.该方案具有可迅速拆卸、方便携带和维修的优点,以及较好的越障性和机动性.基于救援机器人走廊调头和上下楼梯等越障过程的分析,设计了机器人的主要结构参数.以上工作为新型救援机器人实物样机的研制及越障性能的测试奠定了基础.%Based on the modular design idea,the locomotive system overall scheme and the transmission system structure scheme of 6-DOF tracked rescue robot with four swing arms are proposed according to analysis of the typical disaster environment. The robot has many advantages,such as easy to be disassembled,carried and maintained,and good obstacle-surmounting ability and mobility. Based on the obstacle-surmounting process analysis of corridor and stairs,the main structural parameters of the robot are designed. The a-bove work lays the foundation for the development of the new rescue robot physical prototype and the obstacle- surmounting test.