文档介绍：摘要
四连杆变形履带式机器人结构布局, 主要由机架和两个对称分布的
履带变形模块组成。位于机器人中部的机架作为移动平台可装载直流电
源及与控制相关的各种设备, 用于完成各种特定的任务, 在机器人运动
过程中一般保持水平。
机架两侧是基于平行四边形结构的履带变形模块, 主要由四连杆变
形机构、主驱动轮、被动轮及绕在履带轮上的履带组成, 其中四连杆变
形机构由连杆、主动曲柄、被动曲柄组成, 用于提供驱动力, 并且可以
绕机架旋转, 实现履带变形, 在越障时给机器人提供额外的辅助运动。
机器人共有3个自由度, 即一个平动自由度和两个旋转自由度。安装在机
器人两个主驱动轮内的电机通过联轴器传动, 将主驱动轮的旋转运动转
变为履带的平移运动, 实现机器人的直线前进、后退和转向。另外一个
电机安装在机架上, 通过链传动驱动左右两侧履带变形模块中的主动曲
柄绕位于机架前方的轴转动, 从而实现四连杆机构的变形, 最终使绕在
其四周的履带构形发生变化。该结构的特点在于巧妙地利用四连杆机构
实现了机器人的行进与履带的变形, 使机器人具备良好的越障性能和地
面适应性。
关键词:平行四边形四连杆变形履带式机器人越障
Abstract
Four connecting rod deformation caterpillar search and rescue
robot that is used for public security, armed police after disaster
unstructured environment executive search and rescue mission
under the special robot.
Four connecting rod deformation caterpillar robot structure
layout, and the main frame and two symmetric distribution of
deformation crawler module. Located in the central robot as a
mobile platform can be loaded with control dc power supply and
various related equipment, used to finish all kinds of particular
task, in the motion process generally keep level. On both sides
of the frame is based on a parallelogram structure deformation of
the crawler module, mainly by the four connecting rod deformation
institutions, the drive wheels, passive round and round the track
of the wheel position, four of them deformation mechanism
of connecting rod, connecting active and passive crank crank up,
used to provide a driving force,And can be rotated around the frame,
realizing track deformation, the obstacle to provide additional
auxiliary motion robot. The robot has 3 degrees of freedom, namely
a translational degrees of freedom and two rotational degrees of
freedom. Mounted on a robot two main driving wheel motor through
the coupling drive, the main drive wheel rotation motion into
translational motion track of the robot, straight forward,
backward and steering. A motor is mounted on the frame,