摘要近年来新型越障机器人研究成为了热点问题。无论是在军用还是民用领域，越障机器人的应用越来越广，所以对它的要求也越来越高。对其的机动性，环境适应能力和承载能力都提出了一定的要求。

本文所设计的越障机器人是一种基于四连杆履带式的机器人，此款机器人巧妙地应用了平行四边形机构构型发生变化，但履带总长保持不变这个特点，使机器人在平地上行走时采用四轮着地的机构，但遇到障碍物时则发生变形，靠履带的变形张紧使机器人越过障碍。这种越障机器人具有很强的跨沟、爬坡功能,而且它采用模块化设计，便于拆卸。50791

本设计当中，先使用三维软件Solidworks画出其越障机器人的构型，在给与一个扭矩的情况下，机器人行走轮能正常行走。再使用二维软件CAD画出其总体设计图。本设计采用89S51单片机控制越障机器人的行走，转弯等，单片机把控制指令发给L298N驱动器，驱动器与电机相连，实现操作台对机器人的控制

关键词：越障；平行四杆机构；履带式； 89S51单片机

 Abstract In recent years, the research on the new mobile robot has become a hot issue. Whether in the military or in the civilian areas, the mobile robot has been used more and more widely. So the people’ requirements are more and more high. We put forward some requirements about the mobile robot in the aspects of mobility, the ability to adapt the environment and the carrying capacity.

The mobile robot designed in this paper is a four connecting rod crawler robot. This kind of robot skillfully uses the changes parallelogram mechanism configuration .But the track length remains unchanged. This mechanism enables the robot to always keep four wheels on the ground state in the flat ground running.  But once the mobile robot encounters obstacles, it will deform. Under this circumstances, the robot depends on the track deformation over obstacles .This obstacle robot has very strong function in aspects of crossing the channel and climbing .Moreover ,it adopts modular design that makes removing and installing convenient. 

In this design, the first, using 3D software Solidworks draws the obstacle-surmounting robot configurations. In the condition of giving a torque, the robot wheels can normally walk. Then using two-dimensional CAD software draws the overall design diagram. In the design of controller, 89S51 single-chip microcomputer controls the mobile robot walking, turning and so on. 89S51 single-chip microcomputer gives instructions to L298N driver. The driver is connected with the motor, to control the robot.

Key words: Obstacle crossing; Parallelogram linkage; Crawler-type; 89S51 single-chip microcomputer

 目录

第一章  绪论 1

1.1 选题的目的及意义 1

1.2 国内外履带式越障机器人研究现状 1

1.2.1国外履带式越障机器人研究现状 1

1.2.2国内履带式机器人的研究现状 2

1.3 微小型履带机器人的发展趋势 3

1.4 论文主要研究内容 3

第二章  新型越障机器人机械结构的设计 5

2.1 几种越障机器人越障方式的比较 5

2.2  越障机器人总体结构设计方案 6

2.2.1机身的设计 7

2.2.2行走机构的设计 8

2.3 越障机器人的越障原理