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.
引用本文: 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[J]. ROBOT, 2009, 31(3): 235-241.
Citation: LI Yun-wang, GE Shi-rong, ZHU Hua. Gear-type Differential Mechanisms for Rocker-type Mobile Robots[J]. ROBOT, 2009, 31(3): 235-241.

摇杆式移动机器人的齿轮式差动机构研究

Gear-type Differential Mechanisms for Rocker-type Mobile Robots

  • 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.

     

    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.

     

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