【作者】 杨春；

【导师】 姚燕安；

【作者基本信息】 北京交通大学 ， 机械设计及理论， 2010， 硕士

【摘要】 各种地面移动机构在快速性、越障性、平稳性等方面都各有长短,研究开发一种性能全面的移动机构一直是各发达国家的研究热点。轮式移动机构向来以平稳、快速见长,但越障性较差,故提高其越障性能一直是人们研究的重点。本文通过对国内外轮式移动机构越障能力的研究,结合对现有轮式车辆越障性能及越障要求的分析,提出了四种利用连杆机构提高轮式移动机构越障性能的方案,并对各方案进行了初步的机构选型、步态及越障性能分析,通过对各方案优缺点的对比分析,选出变形车轮方案进行深入研究。为验证所选方案的可行性,本文对变形车轮进行了运动学分析,并计算了车轮在两种变形情况下的缩放比,在对移动机构进行越障性能分析的基础上,利用ADAMS软件对其进行虚拟样机仿真。通过理论分析和运动仿真,对移动机构的主要零部件进行了选型和设计。利用Solid Edge对整个系统进行了建模,并对所有零部件模型进行了总装,在组装过程中检验了设计的合理性；绘制了设计零件的图纸,进行了移动机构的样机加工试制。通过对样机的实验再次证明了概念的正确性。实验还表明该移动机构的结构和控制都比较简单,且成本较低。更多还原

【Abstract】 Since different ground-moving mechanisms have unbalanced performances on their speedability, obstacle capability and stability, it has been always a hotspot to develop a all-round ground-moving mechanism for developed countries.Wheeled mobile mechanism is a steady and fast mobile mechanism but obstacle capability, so improving its performance on obstacle-navigation is a research highlight all the time. According to the research on obstacle-navigation performance of wheeled mobile mechanism at home and abroad, and combining with the analysis on already existed performance and requirements of wheeled vehicle, this thesis puts forward four kinds of solutions utilized link mechanism to improve obstacle capability, which are preliminarily carried on by institution selection, and gait and obstacle-navigation performance analysis. Finally transformable wheel scheme is picked up among the four after comparation and study deeply.To prove the feasibility of the transformable wheel scheme, kinematics analysis is carried out, and the wheel scaling is calculated in two extremity cases. With the analyzed obstacle-navigation performance of the wheeled vehicle, ADAMS software is used for the virtual prototype simulation analysis.After the theoretical analysis and dynamic simulation, the main components of the body are designed or procure from the market. The whole system model is established and assembled by Solid Edge. The rationality of the whole mechanism is checked out in this process simultaneously. At last the prototype is assembled after all the designed components of the robot are drawn and manufactured.The correctness of the concept is proved once more after the prototype experiment is carried out. The mechanical structure and controlling system of the mobile mechanism are simple. Besides, the cost is also considerable.更多还原