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针对野外环境的要求,设计了一种轮履复合式机器人。该机器人采用对称结构,由两组履带、4个车轮、运动模式调整装置和车体组成。它可以用车轮实现高速运动,用履带来适应复杂地形,也可以轮履并用来跨越障碍。研究了机器人系统的核心部件——运动模式调整装置的结构与工作原理,分析了机器人通过台阶、凸台、壕沟、斜面及楼梯等典型障碍时的运动特性及可包容的地形。研制完成的样机结构简单、变换灵活,具有良好的环境适应性。
According to the requirements of the field environment, a hybrid wheel-mounted robot is designed. The robot has a symmetrical structure, composed of two sets of tracks, four wheels, a movement mode adjusting device and a car body. It can use wheels to achieve high-speed movement, track to adapt to complex terrain, you can also wheel and used to cross obstacles. The structure and working principle of the kinematic mode adjusting device, which is the core part of the robot system, are studied. The movement characteristics and the inclusive topography of robots when they pass typical obstacles such as steps, bosses, trenches, bevels and stairs are analyzed. The developed prototype has the advantages of simple structure, flexible transformation and good environmental adaptability.