关键词: 移动机构；非结构环境；轮-履复合可变形机器人；结构设计

Abstract:

According to the terrain features of irregular environment, we proposed a novel mobile mechanism of the transformable wheel-track robot (TWTR). The TWTR could adapt autonomously to the irregular environment by transforming the track configuration or by changing the locomotion mode between track mode and wheel mode. The TWTR mechanism consisted of a control system unit and two symmetric transformable wheel-track units. As the mobile mechanism of TWTR, the wheel-track unit was composed of a transformable track mechanism and a drive wheel mechanism. The drive system of the wheel-track unit provided two outputs in different form only by one servo motor, or rather enables the wheel-track unit to have the abilities to transform the configuration of the track and to make the robot move by wheel or by track.We designed the parameters of track mechanism by parametric optimization based on genetic algorithm, and designed the parameters of the drive wheel mechanism according to the configuration features of the wheel-track unit. The validity of the parameters was demonstrated by simulation on the robot transforming the track configuration and changing the locomotion mode.

Key words: mobile mechanism, irregular environment;transformable wheel-track robot;structural design