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机器人在线行走时需要跨越各种障碍物。文中设计了一种由曲柄滑块机构、摆动导杆机构和槽轮机构组成的越障机构,并阐述了其越障原理。该机构能针对不同的障碍物采取不同的跨越方式完成越障,越障动作简单高效,单自由度控制容易。为高压巡检机器人越障机构的选型提供了一种新的选择。
The robot needs to cross a variety of obstacles while walking online. In this paper, a cross-obstacle mechanism composed of a crank-slider mechanism, a swinging guide-rod mechanism and a sheave mechanism is designed and its principle of obstacle avoidance is expounded. The agency can take different ways for different obstacles to complete the obstacle crossing, obstacle action simple and efficient, easy to control a single degree of freedom. It provides a new choice for the selection of high-pressure inspection robot obstacle-avoidance mechanism.