轮履组合式环保机器人的设计与分析

The Design and Analysis of Wheeled-tracked Environmental Robot

1.
School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013;
2.
School of Mechanical Engineering, Yancheng Institute of Technology, Yancheng 224003 ;
3.
School of Computer Science and Communication Engineering, Jiangsu University, Zhenjiang 212013

摘要: 针对室外复杂环境,结合轮式行走机构与履带式行走机构的优点,设计了一种轮履组合式环保机器人,阐述了轮履变换装置及实现。运用大型三维软件UG NX建立了机器人的模型。通过齐次坐标变换建立了机器人的运动学模型,并对正运动学及逆运动学进行了求解。运用UG的运动仿真模块对机械手进行了运动学仿真,结果表明该机械手能够很好的完成收集垃圾任务。
- 轮履组合变换 /
- 环保机器人 /
- 运动学分析 /
- 仿真
Abstract: Aiming at the environment of the outdoors,and comparing the advantages of the wheeled walking mechanism and tracked walking mechanism,a wheeled-tracked environment robot was designed,also the changing mechanism design and its realization were expounded.Using UG NX,a model was established.The kinematics model for robot was established by means of the homogeneous coordinate transformation,then both forward and inverse kinematics were solved.To carry out the kinematics simulation,motion simulation module of UG was used.The results showed that it can well finish the task of collecting garbage.
- wheeled-tracked changing /
- environmental robot /
- kinematics analysis /
- simulation

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