轮式搜救机器人地形自适应机构设计及越障性能分析

赵迪,陈果,陈小利,王熊锦

Terrain adaptive mechanism design and obstacle-surmounting performance analysis of wheeled search and rescue robot

Di ZHAO,Guo CHEN,Xiaoli CHEN,Xiongjin WANG

表3 被动地形自适应机构的结构尺寸及初始姿态参数

Table 3 Structural dimensions and initial attitude parameters of passive terrain adaptive mechanism

参数 量值 参数 量值 L1 110 mm L8 537 mm L2 277 mm L 750 mm L3 160 mm d 800 mm L4 310 mm R 150 mm L5 400 mm θ0 20° L6 224 mm α 158° L7 150 mm γ 165°