带被动摆臂的自适应越障履带机器人的设计与分析

IF 2.1 3区工程技术 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC

Machines Pub Date : 2023-11-27 DOI:10.3390/machines11121051

Ruiming Li, Xianhong Zhang, Shaoheng Hu, Jianxu Wu, Yu Feng, Yan-an Yao

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引用次数: 0

摘要

本文介绍了一种配备被动摆臂的新型自适应履带机器人，用于克服障碍。首先，本文介绍了机器人的整体构成，并重点介绍了被动摆臂的自适应机制。其次，通过分析机器人的单步越障过程，揭示了障碍物高度与被动摆臂几何参数之间的关系，建立了运动学模型。然后，通过将机器人简化为曲柄-滑块连杆机构，建立了机器人克服障碍过程的动态模型，并分析了机器人克服障碍的时间范围。最后，通过虚拟仿真和物理原型验证了机器人设计的可行性和可操作性。这些研究结果证明了机器人在搜救任务和国土安全等各种应用中的潜力。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Design and Analysis of an Adaptive Obstacle-Overcoming Tracked Robot with Passive Swing Arms

This paper presents a novel adaptive tracked robot equipped with passive swing arms for overcoming obstacles. First, the paper introduces the overall composition of the robot and focuses on the adaptive mechanism of the passive swing arms. Second, analyzing the single-step obstacle-overcoming process of the robot reveals the relationship between the obstacle height and the geometric parameters of the passive swing arms, establishing a kinematic model. Then, a dynamic model of the robot’s obstacle-overcoming process is established by simplifying the robot into a crank–slider linkage, and the time range for the robot to overcome obstacles is analyzed. Finally, through virtual simulation and a physical prototype, the feasibility and maneuverability of the robot’s design are verified. These findings demonstrate the potential of the robot in various applications, such as search and rescue missions and homeland security.

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来源期刊

Machines Multiple-

CiteScore

3.00

自引率

26.90%

发文量

1012

审稿时长

11 weeks

期刊介绍： Machines (ISSN 2075-1702) is an international, peer-reviewed journal on machinery and engineering. It publishes research articles, reviews, short communications and letters. Our aim is to encourage scientists to publish their experimental and theoretical results in as much detail as possible. There is no restriction on the length of the papers. Full experimental and/or methodical details must be provided. There are, in addition, unique features of this journal: *manuscripts regarding research proposals and research ideas will be particularly welcomed *electronic files or software regarding the full details of the calculation and experimental procedure - if unable to be published in a normal way - can be deposited as supplementary material Subject Areas: applications of automation, systems and control engineering, electronic engineering, mechanical engineering, computer engineering, mechatronics, robotics, industrial design, human-machine-interfaces, mechanical systems, machines and related components, machine vision, history of technology and industrial revolution, turbo machinery, machine diagnostics and prognostics (condition monitoring), machine design.