轮履组合式环保机器人构形设计及越障分析

摘要

针对室外环境的复杂性,结合轮式行走机构与履带式行走机构的优点,设计了一种轮履变换机构,将该机构用在环保机器人上,并设计了两种不同的末端执行器.运用大型三维软件UGNX建立了机器人的模型.分析了机器人的越障性能.为后续的机器人运动学以及动力学分析做出了保证.%Aiming at the complex of the outdoors environment, combing with the advantages of the wheeled walking mechanism and tracked walking mechanism,a wheeled and tracked transforming robot is designed,which will be mounted on the environment robot with two different manipulators being designed. Then by using tJG NX, a model is estabtishedA nd the ability of surmounting obstacles of the robot is analyzed,which provides a guarantee for the kinematics arid the dynamics analysis of the subsequent robot.