一种小型移动机器人行走机构的设计与分析_周晓东.pdf

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2017-05-08 发布于天津
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一种小型移动机器人行走机构的设计与分析_周晓东.pdf

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·· 一种小型移动机器人行走机构的设计与分析周晓东，胡立德，刘建 400044 UG ADAMS UG ADAMS TP24 A (2009) 04 0014 04 Design and dynamic simulation of a small mobile robot ZHOU Xiao-dongHU Li-deLIU Jian College of Mechanical EngineeringChongqing University Chongqing 400044China Abstract Compared and combined the mobile robot mechanism of wheel, leg and track, a new mobile mechanism was proposed for the property of the off-load environment. The new mechanism consist of four crank track mechanism, remain the better adaptive capacity of environment, reinforce the over-obstacle capacity by crank transfiguration. Introduced the virtual prototype design process of UG and ADAMS dynamic simulation which is applied to analyze the dynamic performance of the robot working in several terrains such as ditch, stair and hathpace . The result verify the efficiency of the new mechanism design and show that the mechanism have better adaptive capacity of over-obstacle and environment. Key words mobile robot crank rocker mechanism obstacle terrain virtual prototype [1] Micro [3] ASL Shrimp [4]