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铰接式串联八轮机器人越障机理研究

任常吉 贺继林 周烜亦

任常吉, 贺继林, 周烜亦. 铰接式串联八轮机器人越障机理研究[J]. 机械科学与技术, 2018, 37(11): 1650-1655. doi: 10.13433/j.cnki.1003-8728.20180134
引用本文: 任常吉, 贺继林, 周烜亦. 铰接式串联八轮机器人越障机理研究[J]. 机械科学与技术, 2018, 37(11): 1650-1655. doi: 10.13433/j.cnki.1003-8728.20180134
Ren Changji, He Jilin, Zhou Xuanyi. An Obstacle-surmounting Mechanism of Articulated Series Eight-wheeled Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2018, 37(11): 1650-1655. doi: 10.13433/j.cnki.1003-8728.20180134
Citation: Ren Changji, He Jilin, Zhou Xuanyi. An Obstacle-surmounting Mechanism of Articulated Series Eight-wheeled Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2018, 37(11): 1650-1655. doi: 10.13433/j.cnki.1003-8728.20180134

铰接式串联八轮机器人越障机理研究

doi: 10.13433/j.cnki.1003-8728.20180134
基金项目: 

中央高校基本科研业务费专项资金项目(2017zzts408)与湖南省战略性新兴产业科技攻关项目(2016GK4007)资助

详细信息
    作者简介:

    任常吉(1992-),硕士研究生,研究方向为特种机器人机构学,rcj620@163.com

    通讯作者:

    贺继林,副教授,博士生导师,hejilin@csu.edu.cn

An Obstacle-surmounting Mechanism of Articulated Series Eight-wheeled Robot

  • 摘要: 针对轮式机动平台在非结构化环境的工程需求,首创了一种主被动联合越障的铰接串联八轮机器人。机器人包括两台对称车体,由液压铰接机构连接,控制液压缸行程和刚柔状态切换,可以实现机器人位姿变换,适应地面障碍。建立了机器人质心运动模型,分析了机器人在垂直墙、壕沟的越障机理,在ADAMS进行越障性能仿真,并进行了样机实验。研究表明,该八轮机器人可攀爬高度为1.5倍轮径的垂直墙,通过宽度为1.5倍轴距的壕沟,具有良好的非结构化障碍通过性能。
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出版历程
  • 收稿日期:  2017-12-02
  • 刊出日期:  2018-11-05

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