摇杆式移动机器人的齿轮式差动机构研究

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李允旺, 葛世荣, 朱华. 摇杆式移动机器人的齿轮式差动机构研究[J]. 机器人, 2009, 31(3): 235-241.. LI Yun-wang, GE Shi-rong, ZHU Hua. Gear-type Differential Mechanisms for Rocker-type Mobile Robots. ROBOT, 2009, 31(3): 235-241..

摘要为了使差动机构在摇杆式移动机器人上得到更好的应用，分析了摇杆式移动机器人差动机构的作用和特征；它可以将两摇杆的转角线性平均为机器人的车体转角．在此基础上，提出了6种齿轮式差动机构，包括ZUWGW型、NW型、DW型、WW型、NGWW型等5种2K-H行星齿轮机构和1种由两个NGW型2K-H行星齿轮机构组成的差动机构．分析了各机构的工作原理和特点，推导出了各差动机构的实现条件，并为其中的ZUWGW型锥齿轮式差动机构和NGWW型行星齿轮相互啮合式差动机构提供了详细的结构设计实例．

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关键词 ：摇杆式机器人, 摇杆, 差动机构, 行星齿轮

Abstract：For a better application of differential mechanism to rocker-type mobile robot,this paper analyzes the functions and characteristics of differential mechanism for rocker-type mobile robot,which keeps the robot body at an average angle between the two rockers.Six gear-type differential mechanisms are proposed,including the types of ZUWGW,NW,DW, WW and NGWW 2K-H planetary gear differential mechanisms and a differential mechanism consisting of two NGW 2K-H planetary gear mechanisms.The operating principle and characteristics of each differential mechanism are analyzed,their realization conditions are deduced,and the detailed mechanical structure designs of a ZUWGW type bevel gear differential mechanism and a NGWW type planetary gear differential mechanism are given.

Key words： rocker-type robot rocker assembly .differential mechanism planetary gear

收稿日期: 2008-07-07

TP24

基金资助:国家863计划资助项目（2006AA04Z208）

作者简介: 李允旺（1980- ），男，博士生．研究领域：救灾机器人，矿山机械．
葛世荣（1963- ），男，博士，教授．研究领域：救灾机器人，复合材料，生物摩擦学．
朱华（1961- ），男，博士，教授．研究领域：救灾机器人，摩擦学．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2009/V31/I3/235

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