论文部分内容阅读
为解决在未安装电梯楼层和阶梯环境下货物运输的问题,成功研制了一种采用可变形车轮作为行走机构的智能阶梯攀爬机器人。该车轮采用3组相同的曲柄摇块机构来实现轮毂变形组合,从而达到攀爬连续阶梯障碍的目的。首先,详细阐述了阶梯攀爬机器人行走机构的设计过程;其次,通过仿真研究,分析了结构设计的合理性;最后,制作了物理样机并通过其攀爬实验,验证了所设计变形轮的可行性。
In order to solve the problem of transporting goods under the condition that elevator floors and stairways are not installed, an intelligent step climbing robot adopting a deformable wheel as a traveling mechanism has been successfully developed. The wheel adopts 3 sets of the same crankshaft rocker mechanism to realize the combination of wheel deformation so as to achieve the purpose of climbing a continuous ladder obstacle. First of all, the design process of walking mechanism of ladder-climbing robot is elaborated in detail. Secondly, the rationality of structural design is analyzed through simulation research. Finally, a physical prototype is made and its climbing experiment is validated to verify the feasibility of the designed deformation wheel Sex.