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18 正交模式履带移动机构翻越凸台第二阶段所需的驱动扭矩与行星杆夹角的关系

Fig.18 Relationship between required driving torque and planetary rod angle of orthogonal mode tracked mobile mechanism during the second stage of surmounting protrusion