• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

›› 1995, Vol. 31 ›› Issue (4): 49-54.

• 论文 • 上一篇    下一篇

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平衡补偿式步行轮的补偿原理及运动特性

魏道付;高峰;李水良   

  1. 洛阳工学院
  • 发布日期:1995-07-01

PRINCIPLE AND CHARACTERISTICS OF MOVEMENT OF BALANCE COMPENSATED WALKING WHEEL

Wei Daofu;Gao Feng;Li Shuiliang   

  1. Luoyang Institute of Technology
  • Published:1995-07-01

摘要： 提出了补偿步行轮重心波动的一种新方法——平衡补偿法。该机构完全是齿轮传动，传动效率高，通过合适的参数匹配可以在补偿机体重心波动的同时使机体运动的水平速度更加均匀，提高了车辆在坚硬道路上行驶时的平顺性。对步行轮传动机构的传动比和运动特性进行了分析。

关键词: 车辆, 机构, 机器人, 运动分析

Abstract: A new method is presented to compensate the fluctuation of the machine's center of gravity when its walking wheels run, e.g. balance compensation. The balance compensated mechanism is consist of a series of gears, has a high transmission efficiency. It can compensate both the fluctuation of the center of gravity and that of the speed if the parameters of the mechanism are suitable, and the machine' s comfort is improved. The gear ratio and characteristics of movement of the walking wheel are studied.

Key words: Kinetic analysis, Mechanism, Robot, Vehicle

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