特种机器人适于在废墟、沼泽、灌木丛等恶劣环境下工作,可以替代人们完成危险的任务,在军事、反恐、消防等方面具有良好的应用前景.多行走机构作为一种新型的特种机器人底盘结构,与传统的单行走机构底盘相比,可以在多种所需的行走机构之间灵活切换,兼具轮式的快速节能性与履带式的高越障性与腿式的高灵活性.通过对采用复合式行走机构、耦合式行走机构、叠加式行走机构3种常见的多行走机构机器人底盘进行优、缺点分析,得出性能较好、可行性较高的几种结构,基于成本与可靠性提出未来特种机器人的结构发展趋势.
Special robots,suitable for working in ruins,swamps,bushes and other harsh environments,and capable of replacing people to undertake dangerous tasks,have a good application prospect in military,anti-terrorism,fire fighting and other aspects.Comparring with the traditional single walking mechanism chassis,the multi-walking mechanism,as a new type of special robot chassis structure,can flexibly switch between a variety of required walking mechanism and has the rapid energy saving characteristics of the wheel type and the crawler type of high obstacle crossing and high flexibility of leg type.This paper analyzes the advantages and disadvantages of the robot chassis adopting compound walking mechanism,coupling walking mechanism and superposition walking mechanism,abtains several structures with better performance and higher feasibility,and proposes the development trend of future special robots based on cost and reliability.