轮履复合式移动机器人设计及越障功能分析

Abstract

Rrobot treading system is designed,all the mobile machine advantages and disadvantages are synthesized,and complex wheels-track is adopted by mobile mechanism.Walking in line,swerving right and left,passing gibbosity,climbing stairs and surmounting groove are realized by the robot.The mobile robot is studied from kinematics,and the passing capabilities of the robot are analyzed in all kinds of circumstance.This kind of mobile robot can be adapted in the exploration,succoring and other complex circumstance.