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河南理工大學萬方科技學院本科畢業(yè)論文
摘 要
四連桿變形履帶式機器人結構布局, 主要由機架和兩個對稱分布的履帶變形模塊組成。位于機器人中部的機架作為移動平臺可裝載直流電源及與控制相關的各種設備, 用于完成各種特定的任務, 在機器人運動過程中一般保持水平。機架兩側是基于平行四邊形結構的履帶變形模塊, 主要由四連桿變形機構、主驅動輪、被動輪及繞在履帶輪上的履帶組成, 其中四連桿變形機構由連桿、主動曲柄、被動曲柄組成, 用于提供驅動力, 并且可以繞機架旋轉, 實現(xiàn)履帶變形, 在越障時給機器人提供額外的輔助運動。機器人共有3個自由度, 即一個平動自由度和兩個旋轉自由度。安裝在機器人兩個主驅動輪內的電機通過聯(lián)軸器傳動, 將主驅動輪的旋轉運動轉變?yōu)槁膸У钠揭七\動, 實現(xiàn)機器人的直線前進、后退和轉向。另外一個電機安裝在機架上, 通過鏈傳動驅動左右兩側履帶變形模塊中的主動曲柄繞位于機架前方的軸轉動, 從而實現(xiàn)四連桿機構的變形, 最終使繞在其四周的履帶構形發(fā)生變化。該結構的特點在于巧妙地利用四連桿機構實現(xiàn)了機器人的行進與履帶的變形, 使機器人具備良好的越障性能和地面適應性。
關鍵詞： 平行四邊形 四連桿變形履帶式機器人 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 track composition, 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, through the chain transmission drive around both sides of track deformation module of the driving crank around the rack is located in front of the axis of rotation, thus realizing the four connecting rod mechanism of deformation, eventually winding around the track configuration changes. The structure is characterized in that the clever use of four bar linkage mechanism can make the robot traveling and track deformation, so that the robot has good barrier properties and ground adaptability.
Key words: parallelogram Four connecting rod deformation caterpillar robot The obstacles
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