新型轮—腿—履带复合移动机构及稳定性分析

A Novel Wheel-Leg-Track Complex Mobile Mechanism and Its Stability Analysis

摘要: 为提高反恐防暴机器人对非结构环境的适应能力，设计出了一种具有良好的机动性能和转向性能的新型轮—腿—履带复合移动机构．通过机器人机构分析与本体的稳定性分析，论证了其结构设计的可行性及好的稳定性．

Abstract: To enhance adaptability of the Explosives Ordnance Disposal(EOD) robot to unstructured environment,a novel wheel-track-leg complex mobile machine is put forward,which has good mobility and steering performance.It is demonstrated by analyzing the robot mechanism and its stability that the structure design is feasible and has good stability.