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河南理工大學(xué)萬方科技學(xué)院本科畢業(yè)論文
摘 要
四連桿變形履帶式機(jī)器人結(jié)構(gòu)布局, 主要由機(jī)架和兩個(gè)對(duì)稱分布的履帶變形模塊組成。位于機(jī)器人中部的機(jī)架作為移動(dòng)平臺(tái)可裝載直流電源及與控制相關(guān)的各種設(shè)備, 用于完成各種特定的任務(wù), 在機(jī)器人運(yùn)動(dòng)過程中一般保持水平。機(jī)架兩側(cè)是基于平行四邊形結(jié)構(gòu)的履帶變形模塊, 主要由四連桿變形機(jī)構(gòu)、主驅(qū)動(dòng)輪、被動(dòng)輪及繞在履帶輪上的履帶組成, 其中四連桿變形機(jī)構(gòu)由連桿、主動(dòng)曲柄、被動(dòng)曲柄組成, 用于提供驅(qū)動(dòng)力, 并且可以繞機(jī)架旋轉(zhuǎn), 實(shí)現(xiàn)履帶變形, 在越障時(shí)給機(jī)器人提供額外的輔助運(yùn)動(dòng)。機(jī)器人共有3個(gè)自由度, 即一個(gè)平動(dòng)自由度和兩個(gè)旋轉(zhuǎn)自由度。安裝在機(jī)器人兩個(gè)主驅(qū)動(dòng)輪內(nèi)的電機(jī)通過聯(lián)軸器傳動(dòng), 將主驅(qū)動(dòng)輪的旋轉(zhuǎn)運(yùn)動(dòng)轉(zhuǎn)變?yōu)槁膸У钠揭七\(yùn)動(dòng), 實(shí)現(xiàn)機(jī)器人的直線前進(jìn)、后退和轉(zhuǎn)向。另外一個(gè)電機(jī)安裝在機(jī)架上, 通過鏈傳動(dòng)驅(qū)動(dòng)左右兩側(cè)履帶變形模塊中的主動(dòng)曲柄繞位于機(jī)架前方的軸轉(zhuǎn)動(dòng), 從而實(shí)現(xiàn)四連桿機(jī)構(gòu)的變形, 最終使繞在其四周的履帶構(gòu)形發(fā)生變化。該結(jié)構(gòu)的特點(diǎn)在于巧妙地利用四連桿機(jī)構(gòu)實(shí)現(xiàn)了機(jī)器人的行進(jìn)與履帶的變形, 使機(jī)器人具備良好的越障性能和地面適應(yīng)性。
關(guān)鍵詞： 平行四邊形 四連桿變形履帶式機(jī)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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