Development of Terrain Adaptive Quadru-Track Vehicle HELIOS-II
Development of Terrain Adaptive Quadru-Track Vehicle HELIOS-II
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地形自适应四轨车HELIOS-II的研制
DOI：
10.7210/jrsj.10.283
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发表时间：
1992
期刊：
影响因子：
--
通讯作者：
J. Miyake
中科院分区：
文献类型：
--
作者：
S. Hirose;Sanehito Aoki;J. Miyake
本文介绍了新研制的四履带式HELIOS-Ⅱ履带车的设计和运动试验。HELIOS-II的特点如下：（一）采用了一个平衡履带，它支承在轨道的中央部分，能够独立摆动。(ii)采用耦合驱动系统，增加了安装执行机构的输出功率。(iii)研制了一种新型扭矩传感器，该传感器由安装在行星齿轮减速机构齿圈上的光电传感器组成。(iv)引入一种新的顺应性乳头。(v)引入阻抗控制方案，保持载体的水平姿态。通过对HELIOS-II机器人的爬行越障、爬楼梯、下楼梯、原地旋转等运动实验，验证了所提出控制方法的有效性。
The design and motion experiments of the newly constructed crawler vehicle HELIOS-II with four track are discussed. The features of HELIOS-II are as follows ; (i) The introduction of an equilibrium crawler which is supported at the central part of the tracks and is able to swing independently. (ii) The introduction of coupled drive system to increase the output power of installed actuator. (iii) The development of a new torque sensor consisting of a photosensor mounted onto a ring gear of a planetary gear reduction mechanism. (iv) The introduction of a new compliant nipple. (v) The introduction of impedance control scheme to maintain the horizontal posture of the carrier. The motion experiments of the HELIOS-II to crawl over an obstacle, climb and descend stairs, and rotate on the spot are shown and the validity of the introduced control is demonstrated.