悬架式六杆机构机器人机构设计与分析

摘要

设计了一种悬架式六杆机构越障机器人，其独特对称的六杆机构和平行四边形机构的使用不仅简化了机器人本体，还提高了其越障、转向能力。阐述了这种机器人的结构、原理，并借助双履带机器人的越障原理对悬架式六杆机构机器人的越障能力和转向能力进行了研究，为越障机器人的设计提供了新的思路。%A kind of six-bar mechanism suspension barrier robot was designed,its unique symmetrical six-bar mechanism and parallelogram mechanism simplified the robot body,and increased the barrier,steering ability. The structure,principle of the robot were introduced and the abilities of barrier and steering were analyzed by analyzing the obstacle-surmounting principle of fixed double tracked robot. It provides a new idea for the design of barrier robot.