A reconfigurable tracked mobile robot based on four-linkage mechanism

作     者：罗自荣 尚建忠 张志雄 

作者机构：School of Mechatronics and AutomationNational University of Defense Technology 

基　　金：Project(2007AA04Z256) supported by the National High Technology Research and Development Program of China 

出 版 物：《Journal of Central South University》 (中南大学学报（英文版）)

年 卷 期：2013年第20卷第1期

页      码：62-70页

摘      要：A novel reconfigurable tracked robot based on four-link mechanism was proposed and released for the complicated terrain environment. This robot was modularly designed and developed, which is composed of one suspension and one pair of symmetrical deployed reconfigurable track modules. This robot can implement multiple locomotion configurations by changing the track configuration, and the geometric theory analysis shows that the track length keeps constant during the process of track reconfiguration. Furthermore, a parameterized geometric model of the robot was established to analyze the kinematic performance of the robot while overcoming various obstacles. To investigate the feasibility and correctness of design theory and robot scheme, an example robot was designed to climb 45° slopes and 200 mm steps, and a group of design parameters of the robot were determined. Finally, A prototype of this robot was developed, and the test results show that the robot own powerful mobility and obstacle overcoming performance, for example, running across obstacle like mantis, extending to stride over entrenchment, standing up to elevate height, and going ahead after overturn.

主 题 词：tracked mobile robot four-linkage mechanism mobility reconfigurable robot 

学科分类：0810[工学-土木类] 0806[工学-电气类] 080202[080202] 08[工学] 0804[工学-材料学] 0805[工学-能源动力学] 0703[理学-化学类] 0802[工学-机械学] 0812[工学-测绘类] 

核心收录：

D　O　I：10.1007/s11771-013-1460-8

馆 藏 号：203127283...