摆臂轮式机器人越障过程建模及仿真

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为解决在城市灾难现场，很多狭窄空间搜救人员无法进人的难题，充分利用搜救过程中轮式机器人的越障能力，首先对小型可分离式机器人进行了结构设计，并进行了越障过程的理论分析，然后使用Matlab对机器人的越障过程进行了运动学和静力学仿真。仿真和实验结果验证了电机驱动力矩、机器人主体与摆臂长度的比例及障碍物高度等之间的关系，为研究小型机器人在复杂环境中的越障能力提供理论依据。 In order to solve the problem that in the disaster site of city, it is not easy for a person to enter into many narrow space, and make full use of wheded robots to conduct, search and rescue, the detachable robot structure was designed firstly, and the process of obstacle-surmounting was analyzed in theory, and then kinematics and statics simulation of the robot was carried out by using Matlab. The simulation and experimental results of the motor drive torque verify the relationship between the main body of the robot arm length ratio and height,provide a theoretical basis for the more impaired ability of the small robot in complex environments.