Design and performance analysis of multi-wheeled lateral and longitudinal rocker arm series-parallel robot
文献类型：会议论文
| 作者 | Wang FD(王福德)1,3; Kou, Zhihui2; Li T(李腾)1,3 ; Li WH(李文皓)1,3
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| 出版日期 | 2022 |
| 会议日期 | June 24, 2022 - June 25, 2022 |
| 会议地点 | Virtual, Online |
| 页码 | 012020 |
| 英文摘要 | The six-wheeled rocker robot and the eight-wheeled rocker robot have strong obstacle-surmounting and terrain adaptability, which are widely used in lunar and Mars exploration, military operations, and field rescue. However, for the terrain environment with low friction coefficient and more complex unstructured terrain environments such as ice and snow roads, the six-wheeled rocker robot and the eight-wheeled rocker robot are not enough, so the rocker arm robot with stronger ability to overcome obstacles and adapt to the terrain is needed. In order to solve the above technical problems, this paper innovatively designs a multi-wheeled lateral and longitudinal rocker arm series-parallel robot. Firstly, Creo3.0 is used to create a new three-dimensional model of a series-parallel robot with multi-wheeled lateral and longitudinal arms. Then, the 3D model of the robot is imported into Adams2018 to build a virtual prototype simulation model. Finally, through the construction and simulation analysis of various obstacle-surmounting terrain environments such as vertical obstacles, slopes and potholes, the adaptability, obstacle-surmounting, safety and maneuverability of the robot to different terrain environments are studied. The conclusions obtained in this paper can provide a reference for the innovative design of the obstacle-crossing mechanism of the multi-wheeled lateral and longitudinal rocker arm series-parallel robot, and the improvement of the obstacle-crossing performance, adaptability, maneuverability and safety performance on complex terrain. © Published under licence by IOP Publishing Ltd. |
| 会议录 | Journal of Physics: Conference Series
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| 语种 | 英语 |
| URL标识 | 查看原文 |
| 源URL | [http://dspace.imech.ac.cn/handle/311007/91715]  |
| 专题 | 力学研究所_高温气体动力学国家重点实验室 |
| 作者单位 | 1.Guangdong Aerospace Science and Technology Research Institute, Guangzhou; 511466, China 2.State Key Laboratory of Tribology, Tsinghua University, Beijing; 100089, China; 3.Institute of Mechanics, Chinese Academy of Sciences, Beijing; 100089, China; |
| 推荐引用方式 GB/T 7714 | Wang FD,Kou, Zhihui,Li T,et al. Design and performance analysis of multi-wheeled lateral and longitudinal rocker arm series-parallel robot[C]. 见:. Virtual, Online. June 24, 2022 - June 25, 2022. |
入库方式： OAI收割
来源：力学研究所
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