1、 救灾救援救灾救援空投机器人系统研究空投机器人系统研究 履带式空投机器人的设计履带式空投机器人的设计 Research on the System of Air-drop Robot to Disaster Area The Design of Air drop Tracked Robot 摘摘 要要 履带式空投机器人的是一种可携带急救物品，以履带方式行进的小型机器人平 台，它集成了机械工程、电子技术、智能控制、计算机科学等多学科领域先进研究成 果，在军事领域可用于战场侦察、破障、目标指示与跟踪，进入核、生化污染区执行 战斗任务、信号中续，或者直接对敌实施精确打击等；在公共安全领域可用于安全监
2、 视、防爆、反恐、救援、抢险、救灾、以及充当智能运输工具等。 该机器人采用模块化设计，便于拆卸维修，可以分段自适应复杂路面，并可主动 控制两侧翼板模块的转动来调节机器人姿态变化，辅助爬坡、越障和跨沟；机器人经 过合理的结构布局和设计后具有良好的环境适应能力、机动能力，并能抵抗一定高度 的掉落冲击。从机器人运动原理、运动性能、运动机构、抗摔结构等几个方面展开研 究，并结合现代机械设计理论、最优化方法、新材料及新工艺等技术对机器人进行了 详细的工程设计。 机器人的设计过程是， 利用三维建模软件建立机器人的参数化模型。 机器人越野能力良好，越障高度 0.5 米（相当于机器人外形长度尺寸） 、跨沟宽度
3、 0.4 米，并能承受 3 米高的掉落冲击。 关键词：关键词：小型机器人；运动性能：复合移动机构；模块化设计 ABSTRACT Crawler-type Air-drop Tracked robot is a new kind of small locomotion platform which can carry first-aid items and walks along the crawler-track It has integrated many advanced research achievements in multi-domain, as Mechanical Engine
4、ering,Electronics Technology, Compute Science and so on .This robot can be used to spy the environment of combat ,clear the dangerous direct and trace the enemy target .and execute assignments in dangerous environment It can also be served as security scout， antiterrorism weapon,emergency succor and
5、 smart transportation vehicle. Its convenient for demolition and maintenance by use of modular design of the robot ,it also have the advantage of self-adapting more complex terrain. Through actively adjusted the rotation of flange flate ,the robot can change its attitudes, assisting grade climbing，o
6、bstacle surmounting,crossing ditchThrough seasonable structure layout and design ,the robot is endowed with favorable adaptability to variable environment, well maneuver capability and high reliability. This thesis takes on the research from some aspects which include locomotion principle,locomotion performance, cross-country capacity，movement structure ,drop-proof structure .Thedetail design of platform has utilized modern machine design theory ,the optimization method,the new
