越野机器人多杆悬架的越障分析

摘要

Based on mechanism principles ,a quantitative analysis of the kinematic coupling characteristics of the suspension end effec-tor is carried out ,and the results show that the suspension can climb over the obstacle with the height of 2 .35 times of the wheel di-ameter .The model of suspension crossing convex type obstacle is set up ,the obstacle-surmounting mechanism of the suspension is analyzed .The conclusion is that the active force of the body determines the suspension obstacle-surmounting height and the friction caused by the rotation of wheels can improve the performance of obstacle-surmounting .%从机构学原理出发，对越野机器人悬架机构末端作用点的运动耦合特性进行了定量分析，得出该悬架可跨越2.35倍车轮直径高度的障碍。构建了悬架翻越凸台型障碍的模型，分析了悬架越障机理，得出车体主动力决定悬架的越障高度和车轮主动转动引起的摩擦力可提高越障性能的结论。