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基于切比雪夫连杆机构与哈特连杆机构,设计与研制了一种新型的轮腿式移动机器人。机器人具有易操控,结构可靠,便于制造,行走稳定的优点。设计过程中用运动学方法对机器人进行运动能力分析,用MATLAB、Pro/E确定机构参数;用虚拟样机动力学软件ADAMS对机器人的运动进行了仿真分析,获得了机器人运动轨迹与整体的运动学特性曲线。阐述了机器人的结构、工作原理、设计过程,为今后轮腿式移动机器人的设计提供了参考。
Abstract：Based on the Chebyshev's linkage and Hart Mechanism, a new type of leg-wheel walking robot was designed and researched. This robot can be easily manufactured and controlled, it has reliable structure and can walk in a steady way. By using the Kinematics method, the robot's moving capacity was analysed; institutional parameters were defined by using MATLAB and Pro/E; the trajectories and the kinematics characteristic curve of the leg-wheel walking robot were gained using ADAMS,and the robot's motion was simulated by using ADAMS. The structure、operational principle and design process were instructed to offer reference of leg-wheel walking robot in the future.
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基本信息:
DOI：
中图分类号:TP242
引用信息:
[1]黄荣舟,李炳川,陈果等.轮腿式移动机器人的设计与研究[J].机械,2015,42(08):44-49.
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