行星式欠驱动可变形履带移动机构的设计与分析

张娜,荀致远,姚燕安

Design and analysis of planetary underactuated transformable tracked mobile mechanism

Na ZHANG,Zhiyuan XUN,Yan'an YAO

图8 直臂模式履带移动机构受力示意图

Fig.8 Force diagram of straight-arm mode tracked mobile mechanism