轮-履复合被动自适应机器人设计与参数分析
Design and Parameter Analysis on Passive Adaptive Robot of Wheel-track Compound

针对地形狭窄、障碍物较高的非结构环境，提出了一种可正反向越障的轮-履复合被动自适应机器人。该机器人由车体模块、尾轮模块和两个左、右对称布置的轮-履复合模块组成。简述该机器人的整体结构和模式转换原理，并详细介绍了其动力传递过程和运动过程。通过建立机器人轮-履复合模块数学模型，分析各构件的运动关系，对轮-履模块的模式转换过程及受力情况进行研究，并研究了轮-履复合模块结构变形过程中履带长度的变化情况。分析结果验证了参数设计的合理性和方案的可行性。
Aiming at the unstructured environment with narrow terrain and higher obstacle, a passive adaptive robot is proposed for the forward and reverse cross obstacle. The robot consists of the body module, the tail wheel module and the left and right two symmetrical arrangements of the wheel-track complex module. The overall structure and mode conversion principle of the robot are briefly introduced, and its power transmission process and motion process are introduced in detail. Through establishing the mathematical model of the robot wheel-track compound module, the motion relation of each component is analyzed, the mode conversion process and force condition of the wheel-track module is studied, and the change of the track length during the deformation process of the wheel-track complex module is obtained. The analysis results verify the rationality of parameter design and the feasibility of the scheme