單電機(jī)驅(qū)動(dòng)的四輪軌道巡檢機(jī)器人的最小轉(zhuǎn)彎半徑研究

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摘要：文章對(duì)單電機(jī)驅(qū)動(dòng)的四輪軌道巡檢機(jī)器人進(jìn)行了深入分析，得出一種單電機(jī)四驅(qū)軌道機(jī)器人最小轉(zhuǎn)彎半徑的計(jì)算方法。同時(shí)，還引入機(jī)器人導(dǎo)向輪的材質(zhì)物理參數(shù)，對(duì)計(jì)算結(jié)果進(jìn)行了范圍修正，進(jìn)一步為未來智能巡檢項(xiàng)目中的軌道機(jī)器人及配套結(jié)構(gòu)設(shè)計(jì)提供量化參考。

關(guān)鍵詞：軌道巡檢機(jī)器人;單電機(jī)驅(qū)動(dòng);最小轉(zhuǎn)彎半徑;彈性參數(shù)

doi：10.3969/J.ISSN.1672-7274.2022.07.012

中圖分類號(hào)：TP 242.3                 文獻(xiàn)標(biāo)示碼：A                文章編碼：1672-7274（2022）07-00-03

Research on Minimum Turning Radius of Four-wheel Track Inspection Robot Driven by Single Motor

FU Guangcai

（Fujian Longjing environmental protection Co.， Ltd.， Longyan 364000，China）

Abstract： This paper deeply analyzes the four-wheel track inspection robot driven by a single motor， and obtains a calculation method of the minimum turning radius of the four-wheel drive track robot driven by a single motor. At the same time， the material and physical parameters of the robot guide wheel are also introduced to modify the range of the calculation results， which further provides a quantitative reference for the design of track robot and supporting structure in the future intelligent inspection project.

Key words： track inspection robot; single motor drive; minimum turning radius; elastic parameters

0  引言

目前市面主流的巡檢機(jī)器人主要包括地面行走機(jī)器人和軌道機(jī)器人兩大類，其中，軌道巡檢機(jī)器人以其運(yùn)行更穩(wěn)定，故障率更低的特性得到了快速的發(fā)展和廣泛的應(yīng)用[1]。（剩余3641字）