四连杆履带式搜救机器人设计 四连杆履带式搜救机器人结构布局，主要由机架和两个对称分布的轨道变形模块组成。位于机器人中间的机架充当移动平台，用于加载直流电源和控制相关设备以执行各种特定任务，在机器人运动期间通常保持一个级别。 基于机架两侧并行图结构的轨道变形模块，主要由履带轮周围的四连杆变形机制、主驱动轮、被动轮和履带组成，其中四连杆变形机制可提供驱动力，可围绕车架旋转，履带变形为机器人在穿越障碍时提供额外的辅助运动。机器人有三个自由度：一个平自由度和两个旋转自由度。安装在机器人两个主要驱动轮上的电机由耦合驱动，将主驱动轮的旋转运动转换为轨道的转换运动，使机器人能够以直线前进、后退和转向。另一个电机安装在机架上，通过链式驱动器驱动左右履带模块中的活动曲柄，围绕框架前面的轴旋转，从而变形四链机制，并最终改变其周围的履带组成。这种结构的特点是巧妙地利用四连杆实现机器人的行程和履带变形，使机器人具有良好的隔障性能和地面适应性。 关键词：平行四边形 四连杆履带式搜救机器人 越障 Abstract The structure layout of the four - link track search and rescue robot mainly consists of the frame and two symmetrically distributed orbital deformation modules. The rack in the middle of the robot acts as a mobile platform to load DC power supplies and control related devices to perform various specific tasks, usually maintaining a level during the robot's motion. The orbital deformation module based on the parallel diagram structure on both sides of the frame mainly consists of the four - link deformation mechanism, main drive wheel, passive wheel and track wheel, where the four - link deformation mechanism can provide driving force and rotate around the frame, and the track deformation provides additional auxiliary movement for the robot when crossing the obstacles. The robot has three degrees of freedom: one flat degree and two rotational degrees of freedom. The motor mounted on the robot's two main drive wheels are coupled, converting the rotational motion of the main drive wheel into the conversion motion of orbit, enabling the robot to move forward, retreat and turn in a straight line. Another motor is mounted on the rack, driving the active crank in the left and right track module through a chain drive, rotating around the axis in front of the frame, transforming the four - chain mechanism and eventually changing the track composition around it. This structure is characterized by the clever use of four - link rods to achieve the robot's travel and track deformation, making the robot has good barrier isolation performance and ground adaptability. Key words: parallelogram；Four-link track-type search and rescue robot；The obstacles 目 录 1绪论 1 1.1 选题背景和意义 1 1.2 履带机器人国内外发展状况及研究背景 1 1.2.1 国内外发展状况状 1 1.2.2研究背景 2 1.3 履带式机器人的关键技术 2 1.3.1 模块化设计技术 2 1.3.2 控制技术 3 1.3.3 通信技术 3 1.3.4 多传感器信息融合技术 3 1.3.5 导航和定位技术 3 1.4 履带机器人的发展趋势 4 1.4.1 人工智能的使用 4 1.4.2拓展使用范围 4 1.5 本文主要研究内容 4 2机器人驱动功率计算与电机选择 5 2.1 机器人整车驱动力 5 2.2 牵引电机特性参数 5 2.3 机器人驱动功率确定 6 2.4 驱动电机选择 7 3 四连杆履带式机器人内部减速器设计 8 3.1 驱动轮蜗轮蜗杆减速器设计 8 3.1.1电机的选择 8 3.1.2动力学参数计算 8 3.1.3传动零件的设计计算 9 3.1.4输入轴的设计计算 11 3.1.5输出轴的设计计算 13 3.2 控制主动曲柄转到的蜗轮蜗杆减速器设计 16 3.2.1电机的选择 16 3.2.2动力学参数计算 16 3.2.3传动零件的设计计算 16 3.2.4输入轴的设计计算 19 3.2.5输出轴的设计计算 21 4机器人越障原理及性能分析 23 4.1机器人越障的基本原理 23 4.2机器人越障性能分析 24 5 总结 25 参考文献 27
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