基于ADAMS的双曲柄滑块机构变形履带机器人越障过程分析与仿真
Simulation and Analysis of Obstacle-climbing Process for Double Slider-crank Mechanism Deformation Tracked Robot Based on ADAMS

针对复杂环境下移动机器人越障性能的要求,提出一种采用双曲柄滑块机构改变履带外形的越障机器人。利用被动自适应装置,对履带变形过程的张紧力进行主动控制。介绍了该机器人的整体结构,阐述了其越障机构的设计和实现过程,分析验证了履带变形前后长度保持不变。为检验设计方案的有效性,对机器人爬坡、攀爬台阶和转向过程进行了分析,并利用ADAMS软件进行仿真。通过动画模拟机器人越障、转向的实际过程,验证了其越障、转向性能。
For the requirements of obstacle crossing performance of the mobile robot in complex environments, a kind of barrier-crossing robot is proposed, which two-crank-slider is used to change the track shape. Introducing the passive adaptive installation, the track deformation of tension is actively controlled. The overall structure of the robot is introduced and the design of obstacle negotiation mechanism and implementation of the process are expounded. The track length which does not change before and after deformation is analyzed and verified. In order to check the effectiveness of the robot, the robot motion such as climbing, protrusion crossing and steering process is analyzed, and the simulation via ADAMS is carried out. The actual process of obstacle-navigation and steering task is imitated, then the surmounting obstacle and steering ability is verified