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研制了一种具有差动机构的四履带双摇臂机器人,该机器人主体由单个直流电机驱动,通过与电磁制动器的配合,实现前进、后退及转向动作,并且差速半轴输出的动力可同步分配至两摇臂,从而完成越障动作。同时,对机器人攀爬台阶时的越障机理进行了分析,通过建立机器人主体倾角α、摇臂仰角θ及越障高度H(θ,α)三者之间的关系,得到了最大越障高度的理论值,并通过对试验样机进行现场测试,将越障高度的实测值与理论值进行了对比分析。
A four-track double-arm robot with differential mechanism is developed. The main body of the robot is driven by a single DC motor. By cooperating with the electromagnetic brake, the four-track double-arm robot can move forward, backward and turn, and the output power of the differential half-shaft can be synchronized Assigned to the two rocker arm, in order to complete the obstacle clearance action. At the same time, the mechanism of obstacle avoidance when the robot climbs the stairs is analyzed. The maximum obstacle clearance height is obtained by establishing the relationship between the robot main body inclination angle α, the rocker elevation angle θ and the obstacle clearance height H (θ, α) The theoretical value of the obstacle height test was compared with the theoretical value by field test of the test prototype.