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机器人学术论文英语版
CHINESE JOURNAL OF MECHANICAL ENGINEERING
·24 · Vol. 20,aNo. 3,a2007
DUAN Xingguang DEVELOPMENT AND MOTION
School of Mechatronics Engineering,
Beijing Institute of Technology,
Beijing 100081, China ANALYSIS OF MINIATURE
School of Vocational Technology,
Hebei Normal University, WHEEL-TRACK-LEGGED
Shijiazhuang 050031, China
*
MOBILE ROBOT
HUANG Qiang
School of Mechatronics Engineering,
Beijing Institute of Technology,
Beijing 100081, China
Abstract: A miniature wheel-track-legged mobile robot to carry out military and civilian missions in
XU Yan both indoor and outdoor environments is presented. Firstly, the mechanical design is discussed, which
School of Vocational Technology, consists of four wheeled and four independently controlled tracked arms, embedded control system
Hebei Normal University, and teleoperation. Then the locomotion modes of the mobile robot and motion analysis are analyzed.
Shijiazhuang 050031, China The mobile robot can move using wheeled, tracked and legged modes, and it has the characteristics of
posture-recovering, high mobility, small size and light weight. Finally, the effectiveness of the deve-
loped mobile robot is confirmed by experiments such as posture recovering when tipp
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