Abstract: According to the center of gravity location changing in robot obstacle negotiation, a kind of master-slave tracked compound robot obstacle negotiation research method is put forward in this paper. The robot prototype model is given. The researches of prototype focus variation and main crawler system chain wheel load torque variation, and simulation analysis of obstacle and stairs are preceded. Simulation result shows that the change of gravity is a key factor in obstacle and climbing the stairs. There is a maximum wheel torque when the prototype crawler system changes.

Key words: track, obstacle negotiation, robot, virtual prototype, center of gravity, torque

摘要： 针对机器人越障过程中的重心位置变化情况，提出一种主从履带复合式机器人越障研究方法。给出机器人样机模型，研究样机的重心变化规律和主履带系统链轮的负载扭矩变化规律，并进行越障和楼梯仿真分析。仿真结果表明，重心变化是影响越障和爬越楼梯成功与否的关键因素，样机重心位置发生变化时，履带系统链轮转矩将出现最大值。

关键词: 履带, 越障, 机器人, 虚拟样机, 重心, 转矩

CLC Number: 

• TP18