• CN:11-2187/TH
  • ISSN:0577-6686

›› 2005, Vol. 41 ›› Issue (8): 108-114.

• 论文 • 上一篇    下一篇

小型轮履腿复合式机器人设计及运动特性分析

段星光;黄强;李科杰   

  1. 北京理工大学机电工程学院
  • 发布日期:2005-08-15

DESIGN AND MOTION ANALYSIS OF MINIATURE WHEEL-TRACK-LEGGED MOBILE ROBOT

Duan Xingguang;Huang Qiang;Li Kejie   

  1. School of Mechatronic Engineering, Beijing Institute of Technology
  • Published:2005-08-15

摘要: 针对在室内外环境下对小型移动机器人的运动要求,综合轮式、履带式和腿式运动机构的优点,研制开发了一种多运动模式的小型轮履腿复合式移动机器人。该机器人可以进行轮式高速运动、履带或腿式越障等多种模式的运动。对其运动特性、越障性能、自动复位功能进行了详细的分析。采用的嵌入式控制系统保证了机器人功耗低、可靠性好、实时性高的控制要求。试验表明,这种移动机器人运动灵活,具有很好的环境适应性和较高的越障能力。

关键词: 复位, 移动机器人, 越障, 运动模式, 运动特性

Abstract: Aiming at the moving requests of the miniature mobile robot under the environment of indoors and outdoors, a miniature track-wheel-legged mobile robot with multiple moving modes such as wheeled, tracked and legged locomotion is presented. The moving characters, obstacle negotiation capability and self-reposition function of the robot are analyzed in details. The embedded control system is adopted to ensure the robot to be with low power consuming, good reliability and high real-time character. The experiment results show that the mobile robot has high mobility, good environmental adaptability and obstacle negotiation ability.

Key words: Moving character, Obstacle negotiation, Locomotion mode, Mobile robot, Reposition

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