一种履带式机器人设计及其越障分析

摘要

针对核工业管道内壁情况的检测,设计了一种六履带四摆臂式移动机器人.该机器人具有越障、跨沟、无线遥控和图像采集等功能.详细介绍了履带式机器人机械结构和控制系统的设计过程,并对制作的机器人进行了越障性能分析和相关实验验证.%For the detection of the inner wall of the pipes in the nuclear industry,a mobile robot of six tracts and four arms was designed. The system contains functions of obstacle-climbing,wireless control and image acquisition. Introduces the design of the mechanical structure and control system in details, then analyzes the obstacle-climbing of the robot and tests it in experiments.