一种特殊结构履带机器人设计及爬楼梯打滑性分析

摘要

针对履带机器人在越障过程中出现的不稳定问题，设计了一种特殊结构的被动摇臂履带机器人。用UG建立了履带机器人的三维模型，对其在越障性能之一的爬楼梯过程中进行了打滑性理论分析，并通过多体动力学软件RecurDyn进行了运动学仿真，从而验证了该机构的可行性，为被动摇臂履带式机器人的发展提供了依据。%To solve the instability of track robot in the process of climbing obstacles,a track robot with passive rocker was designed and the three-dimensional model of the robot was built by UG in this paper.Furthermore,the detailed skid theory analysis during climbing stair was made.The virtual prototype kinematics simulation for this robot was made by using the tracked vehicle subsys-tem of RecurDyn.The theory analysis and the simulation results verify the feasibility of the machine and provide some theoretical guidance for developing the obstacle performance of track robot.