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基于ADAMS的双曲柄滑块机构变形履带机器人越障过程分析与仿真

孙智勇 朱洪俊 冷鸿彬

孙智勇, 朱洪俊, 冷鸿彬. 基于ADAMS的双曲柄滑块机构变形履带机器人越障过程分析与仿真[J]. 机械科学与技术, 2015, 34(12): 1819-1824. doi: 10.13433/j.cnki.1003-8728.2015.1203
引用本文: 孙智勇, 朱洪俊, 冷鸿彬. 基于ADAMS的双曲柄滑块机构变形履带机器人越障过程分析与仿真[J]. 机械科学与技术, 2015, 34(12): 1819-1824. doi: 10.13433/j.cnki.1003-8728.2015.1203
Sun Zhiyong, Zhu Hongjun, Leng Hongbin. Simulation and Analysis of Obstacle-climbing Process for Double Slider-crank Mechanism Deformation Tracked Robot Based on ADAMS[J]. Mechanical Science and Technology for Aerospace Engineering, 2015, 34(12): 1819-1824. doi: 10.13433/j.cnki.1003-8728.2015.1203
Citation: Sun Zhiyong, Zhu Hongjun, Leng Hongbin. Simulation and Analysis of Obstacle-climbing Process for Double Slider-crank Mechanism Deformation Tracked Robot Based on ADAMS[J]. Mechanical Science and Technology for Aerospace Engineering, 2015, 34(12): 1819-1824. doi: 10.13433/j.cnki.1003-8728.2015.1203

基于ADAMS的双曲柄滑块机构变形履带机器人越障过程分析与仿真

doi: 10.13433/j.cnki.1003-8728.2015.1203
基金项目: 

国家自然科学基金项目(51375410)资助

详细信息
    作者简介:

    孙智勇(1988-),硕士研究生,研究方向为机械设计及机构学,1103973002@qq.com

    通讯作者:

    朱洪俊(联系人),教授,博士,硕士生导师,zhuhongjun@swust.edu.cn

Simulation and Analysis of Obstacle-climbing Process for Double Slider-crank Mechanism Deformation Tracked Robot Based on ADAMS

  • 摘要: 针对复杂环境下移动机器人越障性能的要求,提出一种采用双曲柄滑块机构改变履带外形的越障机器人。利用被动自适应装置,对履带变形过程的张紧力进行主动控制。介绍了该机器人的整体结构,阐述了其越障机构的设计和实现过程,分析验证了履带变形前后长度保持不变。为检验设计方案的有效性,对机器人爬坡、攀爬台阶和转向过程进行了分析,并利用ADAMS软件进行仿真。通过动画模拟机器人越障、转向的实际过程,验证了其越障、转向性能。
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出版历程
  • 收稿日期:  2013-12-15
  • 刊出日期:  2015-12-05

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