| 董佳灵， 黄立新， 朱建柳， 李松， 刘杰， 丁子昊.基于椭圆形成原理的可变形机器人结构研究[J].轻工机械,2019,37(2):12-16 |
| 基于椭圆形成原理的可变形机器人结构研究 |
| Structural Design of Deformable Robot Based on Ellipse Forming Principle |
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| DOI：10.3969/j.issn.1005 2895.2019.02.003 |
| 中文关键词: 机器人 行走机构 可变形履带式 双椭圆摆臂回转机构 |
| 英文关键词:robot walking mechanism deformable crawler type double ellipse swing arm rotating mechanism |
| 基金项目:上海市教委产学研专项基金（12ZT14）；上海市宝山区产学研合作基金(bkw2014115）；上海市宝山区科委产学研专项基金
（CXY 2012 18）；上海工程技术大学研究生科研创新项目（E3 0903 17 01016)。 |
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| 中文摘要: |
| 针对可变形机器人在非结构化地形环境中作业能力低、环境适应性差等问题，设计了一种可变形履带式机器人行走机构。
在机器人履带张紧机构的设计中应用了椭圆形成原理；机器人模型中采用了双椭圆摆臂回转机构；为了增大与地面的接触面积，提高复杂环境下作业能力及稳定
性，该可变形移动机器人采用4节履带构型。该移动机器人兼具有腿式移动机构和履带式移动机构的特性，能在恶劣环境中进行物品运输、搬运负载和执行特种
任务等作业。应用结果表明该行走机构不仅具有安全可靠、环境适应性强等特点，且具备一定的越障性能和机动性能。该行走机构能提高运输效率，节约人力和
财力。 |
| 英文摘要: |
| To solve the problems of low working ability and poor environmental adaptability of deformable robot in unstructured terrain environment, a walking
mechanism of deformable crawler robot was designed. The ellipse forming principle was applied in the design of the track tensioning mechanism and a double ellipse swing arm rotating
mechanism was adopted in the robot model. In order to increase the contact area with the ground and improve the working ability and stability in complex environments, the four section
track configuration was adopted in deformable mobile robot. The mobile robot has the characteristics of both a leg type moving mechanism and a crawler type moving mechanism
which enables it to perform goods transportation, load handling, and some special tasks in a harsh environment. The application results show that the walking mechanism not only has the
characteristics of safety, reliability and strong environmental adaptability, but also has certain obstacle crossing performance and maneuvering performance. The walking mechanism can
improve the transportation efficiency and save manpower and financial resources. |
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