Zhang Enzhong, Sun Ruiyang, Pang Zaixiang, Liu Shuai
School of Mechatronical Engineering, Changchun University of Technology, Changchun, China.
Appl Bionics Biomech. 2021 Nov 18;2021:7925707. doi: 10.1155/2021/7925707. eCollection 2021.
According to the requirements of the reconnaissance robot for the ability to adapt to a complex environment and the in-depth study of the obstacle climbing mechanisms, a planetary wheel-leg-combined mechanism capable of adapting to complex terrains is proposed. According to the proposed planetary wheel-leg-combined mechanism, the land part of the air-ground amphibious reconnaissance robot is designed. Considering the obstacle and fast marching performance, four groups of combined wheel-leg mechanisms are adopted in the land bank. Under the action of three kinds of obstacles, the stability and the movement ability of the robot are analyzed by using the static method. The parameter model of the reconnaissance robot is built by a virtual prototype dynamics software MSC.ADMAS. The kinematic characteristic curves of each component and the whole prototype are obtained, which provides a theoretical basis for the design and numerical calculation of the robot structure. Finally, the climbing ability tests of the reconnaissance robot prototype verify the reliability and practicability of the body structure of the reconnaissance robot.
根据侦察机器人对复杂环境适应能力的要求以及对越障机构的深入研究，提出了一种能够适应复杂地形的行星轮腿组合机构。依据所提出的行星轮腿组合机构，设计了空地两栖侦察机器人的陆地部分。考虑到越障和快速行进性能，在陆地上采用了四组组合轮腿机构。利用静力法分析了在三种障碍物作用下机器人的稳定性和运动能力。通过虚拟样机动力学软件MSC.ADMAS建立了侦察机器人的参数模型。得到了各部件及整个样机的运动学特性曲线，为机器人结构的设计和数值计算提供了理论依据。最后，侦察机器人样机的越障能力测试验证了侦察机器人车身结构的可靠性和实用性。
