摘要
研究了1种三构态变胞机构,能够及时转换构态,实现末端参考点的预定轨迹。对该机构进行了构态变换分析,给出了在不同构态时机构的自由度、邻接矩阵及构态变换时的变胞方程。根据机构在不同构态时的性质,将该变胞机构应用于移动机器人的设计中,提出了1种轮履复合式机器人行走机构。该机构融合了轮式机构高速和履带式机构通过能力强的优点,具有3种运动模式,能通过构态的变换来满足野外环境中的不同运动需求。
A kind of metamorphic mechanism with three configurations was proposed, which can transform its configurations in time to realize the terminal reference point＇s preconceived track. The configuration transformation was analyzed, then the adjacency matrixes and degree of freedom under various configurations and metamorphic equa- tions on configuration transformations were put forward. The metamorphic mechanism was used in the design of a mo- bile robot, according to the characteristic of its various configurations, and a wh＇eel-tracked robot＇s mobile mechanism was brought forward. Integrating the merits of wheeled and tracked mechanism, the mobile mechanism has three mo- tion patterns, which can fit different requirements of outdoor environments by transforming its configurations.
出处
《机电一体化》
2013年第12期23-27,共5页
Mechatronics
基金
陕西省教育厅专项科学研究项目(编号11JK0874)
西安科技大学博士启动金项目(编号2010QDJ040)
西安科技大学科研培育基金项目(编号201121)
关键词
变胞机构
自由度
构态变换
轮履复合式
机器人
行走机构
metamorphic mechanism degree of freedom configuration transformation wheel-tracked robotmobile mechanism
作者简介
田海波1974年生，博士，讲师。研究领域为机器人机构研究及其运动控制。
