四履带双摆臂机器人越障机理和越障能力_李允旺.pdfVIP

32 2 ROBOT Vol.32, No.2 2010 3 Mar., 2010 1002-0446(2010)-02-0157-09 221116 CUMT-II 3 TP24 A Obstacle-surmounting Mechanism and Capability of Four-track Robot with Two Swing Arms LI Yunwang GE Shirong ZHU Hua LIU Jian (School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China) Abstract: For performing the best obstacle-surmounting capability of four-track robot with two swing arms, obstacle- surmounting mechanism of the four-track robot with two swing arms and its capabilities of surmounting obstacles, includ- ing step and slope-climbing, and channel-crossing, are analyzed from the viewpoint of kinematics based on the obstacle- surmounting mechanism of the fixed two-track robot. Its motion mechanism and maximal obstacle-surmounting capability of step-climbing forward and backward are mainly analyzed. Taking CUMT-II coal mine exploring robot prototype as an example, three dimensional relationship diagrams of the step height, the elevation angle and arms’ swing angle are drawn and the relation curves of slope gradients and the swing arms’ swing angles are drawn. The theoretical value of maximal obstacle-surmounting capabilities of the prototype are obtained and compared with the test results. And the best obstacle- surmounting performance and the corresponding centroid and swing arm p