Proceeding of the 11th World Congress on Intelligent Control and Automation

Shenyang, China, June 29 - July 4 2014

A Deformable Rolling Robot Based on 3-URU Parallel

Mechanism
Yanling Hao, Yaobin Tian, Jilong Xie, and Yan-an Yao*

School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, China
(ylhao, 09116325, jlxie, yayao@bjtu.edu.cn)

Abstract— In this paper, a novel deformable rolling robot constructed by a 3-URU parallel mechanism is presented. The robot
contains two equal node elements and three equal chains. Each of the chains is composed of two links and three joints (a revolute (R) in
the middle of the chain and two universal (U) joints ant the two ends of the chain). The robot has 3 degrees of freedom, and three
actuators are mounted at the three R joints to control the motion. By kinematics analysis, the robot can be folded into a narrow
structure, which is useful for storing and carrying. Further, the rolling motion and gaits analysis are discussed and simulated with a 3D
model. Finally, a prototype was manufactured and some experiments were carried out to verify the functions of the robot.

Keywords—Rolling motion, URU chain, mobile robot

ะӄ URU ᭥䬴ᒬ㚊ᵰᶺⲺਥ਎ᖘ┐ࣞᵰಞӰ

䜍㢣⧢ ⭠㘰ᮼ 䉒ส嗉 ည⠅ᆹ*i

ेӜӔ䙊བྷᆖᵪỠо⭥ᆀ᧗ࡦᐕ〻ᆖ䲒ˈेӜˈѝഭ
(ylhao, 09116325, jlxie, yayao@bjtu.edu.cn)

᪎ 㾷 ᵜ᮷ᨀࠪҶа⿽⭡ 3-URU ᒦ㚄ᵪᶴ㓴ᡀⲴᯠරਟਈᖒ〫ࣘᵪಘӪDŽᵪಘӪवᤜєњ⴨਼Ⲵ亦⛩অ‫઼ݳ‬йᶑ⴨਼Ⲵ᭟䬮DŽ

⇿ᶑ᭟䬮൷⭡ 2 њ䘎ᵶ઼ 3 њ䘀ࣘ࢟㓴ᡀ˄ѝ䜘ањ䖜઼ࣘ࢟єㄟ਴ањзੁ㢲˅
DŽᵪಘӪᮤփ㠚⭡ᓖѪ 3ˈйњ⭥ᵪᆹ㻵൘Ⲵйᶑ᭟
䬮Ⲵ䖜ࣘ࢟к⭘ԕ᧗ࡦᵪᶴⲴ䘀ࣘDŽ䙊䗷䘀ࣘᆖ࠶᷀ˈᵪಘӪਟԕ㕙Ѫањ㓶䮯Ⲵ㔃ᶴˈ䘋㘼ᴹ࡙Ҿۘ㯿઼ᩪᑖDŽ䘋а↕ᔪ・ᵪಘӪ
й㔤ᔪ⁑ˈሩަ┊ࣘ䘀઼ࣘ↕ᘱ䘋㹼࠶઼᷀ԯⵏDŽᴰਾˈࡦ֌аਠṧᵪ䘋㹼䈅傼ˈᇎ⧠Ҷᵜ䇮䇑Ⲵ࣏㜭DŽ

ީ䭤䈃 ┊ࣘ䘀ࣘˈURU ᭟䬮ˈ〫ࣘᵪಘӪ

1κᕋ䀶 н਼Ҿ⨳රᵪಘӪˈ᮷⥞[3-6]䇮䇑Ҷа㊫ᮤփཆᖒ
┊ࣘᱟа⿽൘ᒣൠк䶎ᑨᴹ᭸Ⲵ〫ࣘᯩᔿˈᴰިර Ѫঅ⧟Ⲵ〫ࣘᵪಘӪˈ䙊䗷⧟Ⲵཆᖒਈॆˈ֯ᗇ⧟ᖒⲴ
Ⲵާᴹ┊ࣘ䘀ࣘⲴᵪಘӪᱟ⨳ᖒᵪಘӪDŽ⨳ᖒᵪಘӪа 䗩‫⅑׍‬оൠ䶒᧕䀖ˈᇎ⧠ᵪಘӪⲴ┊ࣘ䘀ࣘDŽ⴨∄⨳ර
㡜䜭ާᴹањപᇊⲴ⨳༣ˈ䙊䗷⨳༣޵䜘Ⲵ⭥ᵪⲴ傡ࣘ ᵪಘӪˈ䘉㊫⧟ᖒⲴ┊ࣘ䘀ࣘާᴹᴤྭⲴっᇊᙗˈնަ
֯ᗇᮤњ⨳փᇎ⧠┊〫ࣘࣘDŽն⭡Ҿ⨳ᖒᵪಘӪ઼ൠ䶒 〫ࣘᯩੁа㡜പᇊˈᰐ⌅ᇎ⧠㠚⭡䖜ੁDŽ
Ⲵ᧕䀖䶒〟ሿˈഐ㘼〫ࣘᯩੁⲴ᧗ࡦ䖳Ѫ༽ᵲˈфᵪಘ ѪҶᨀ儈䘉㊫ާᴹ⧟ᖒ⢩ᖱⲴᵪಘӪਈᖒо〫ࣘ
ӪⲴっᇊᙗ䖳ᐞ[1, 2]DŽ 㜭࣋ˈ᮷⥞[7, 8]ᨀࠪҶ㓟⭥ࣘը㕙ᵶ傡ࣘⲴཊ⧟〫ࣘᵪ

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978-1-4799-5825-2/14/$31.00 ©2014 IEEE
ಘӪˈ䙊䗷⧟Ⲵ䗩䮯Ⲵը䮯о㕙⸝ˈ᧗ࡦᮤփਈᖒˈ䘋 G
I G L
㘼ᇎ⧠઼〫ࣘ䖜ੁˈն䘉㊫〫ࣘᵪಘӪ㾱≲ը㕙ᵶⲴ㕙 D p
T L
᭮∄ֻᖸབྷˈ䴰㾱䇮䇑⢩↺Ⲵཊ㓗᧘ᵶDŽ↔ཆ᧘ᵶᮠⴞ H F
z
䖳ཊ໎࣐ҶᵪಘӪ㠚䓛Ⲵ䟽䟿DŽ z T D T E
K
൘ࡽᵏ⹄ウѝˈᡁԜ䇮䇑Ҷаᢩ⭡䶎〫ࣘ࢟ᶴᡀⲴ K rCM
A l3
オ䰤〫ࣘᵪᶴˈྲオ䰤 4U ઼ 8U 〫ࣘᵪಘӪ[9-10]ˈᒦᇎ T
l1
o l2 y
⧠ҶᵪಘӪⲴ઼〫ࣘ䖜ੁ࣏㜭DŽն‫ ޘ‬U ࢟㓴ᡀⲴ〫ࣘᵪ E C J
J A o
x B y
ಘӪ䴰㾱䘹ᤙਸ䘲Ⲵ傡ࣘս㖞ԕ৺䇮䇑⴨ᓄⲴՐࣘᵪ
ᶴDŽᵜ᮷ᨀࠪҶа⿽⭡ 3-URU ᭟䬮ᶴᡀⲴᯠරⲴ〫ࣘᵪ ˄a˅ ˄b˅
ᶴDŽ䪸ሩ傡ࣘ䰞仈ˈሩ URU ᭟䬮Ⲵ U ࢟Ⲵ䖤㓯ᯩੁ䘋 മ1 3URU 〫ࣘᵪᶴ
㹼Ҷ⢩↺Ⲵ䇮䇑ˈ֯ᗇ䙊䗷᭟䬮Ⲵ R ࢟ਟሩᵪᶴᮤփ䘋
㹼᧗ࡦDŽ 3κ䘆ࣞᆜૂ┐ࣞ৕⨼࠼᷆
ᵜ᮷Ⲵѫ㾱䍑⥞˖˄1˅⧠ᴹⲴ 3-URU ᒦ㚄ᵪᶴѫ ᵜ㢲ѫ㾱㘳㲁йњ⭥ᵪ਼↕傡ࣘᰦᵪಘӪⲴ䘀ࣘᆖ઼
㾱⭘Ҿ䇮䇑᫽֌ᒣਠ[11-12]ˈ⹄ウࣘᒣਠⲴ䘀ࣘ⢩ᙗDŽᡁ ┊ࣘ㜭࣋࠶᷀ˈԕ৺⭥ᵪн਼↕傡ࣘᰦᵪಘӪⲴ䖜ੁ࣏㜭
ԜࡉᨀࠪҶ 3-URU ᵪᶴ⭘Ҿ䇮䇑┊ࣘᵪಘӪⲴᯠⲴ⭘ Ⲵᇎ⧠DŽ
䙄ˈᒦ࠶᷀ҶᵪᶴⲴ┊ࣘ↕ᘱDŽ ˄2˅䪸ሩ傡ࣘᆹ㻵䰞仈ˈ
3.1 йњ⭥ᵪ਼↕傡ࣘ
䘋а↕䇮䇑Ҷ URU ᭟䬮Ⲵ㔃ᶴˈ֯ᗇᵪᶴ㜭ཏᴹ᭸߿
ቁ㔃ᶴⲴ༽ᵲᓖDŽ 3.1.1 䘀ࣘᆖ࠶᷀

৲➗മ 1ˈ‫ٷ‬䇮亦⛩ ABC പᇊҾൠ䶒ˈ൘й䀂ᖒ ABC

2κᵰᶺ䇴䇗 Ⲵѝᗳ o ⛩ᔪ・ⴤ䀂඀ḷ㌫ o-xyzˈoy 䖤⋯⵰ AC ᯩੁˈox
ྲമ 1 ᡰ⽪ˈ3URU ৼй䀂䭕ᵪᶴ⭡єњ⴨਼Ⲵ亦⛩ 䖤඲ⴤҾ ACˈoz 䖤඲ⴤҾ䶒ᒣ䶒 ABCDŽᖃйњ⭥ᵪԕ⴨
অ‫˄ݳ‬亦⛩ ABC ઼ GHI˅઼䘎᧕൘к䘠亦⛩অ‫ݳ‬ѻ䰤Ⲵй ਼Ⲵ䙏ᓖ䘀ࣘᰦˈࡉ亦⛩ GHI ਚ㜭ሶ⋯⵰ oz 䖤ᯩੁклᒣ
њ⴨਼Ⲵ᭟䬮˄ㅜа᭟䬮 ADGˈㅜҼ᭟䬮 BEH ઼ㅜй᭟ ࣘDŽԔ JˈKˈL ࠶࡛Ѫ BCˈEF ઼ HI Ⲵѝ⛩ˈ⭡ҾT = T2
䬮 CFI˅㓴ᡀˈަѝˈ⇿ᶑ᭟䬮वᤜєњㅹ䮯䘎ᵶ઼єњ = T3ˈфй䀂ᖒ ABCˈй䀂ᖒ GHI ઼ᒣ䶒 DEF ⴨ӂᒣ㹼ˈ
⴨਼Ⲵॱᆇ䖤DŽᆳԜѻ䰤Ⲵ䘎᧕‫ޣ‬㌫Ѫ˄ԕㅜа᭟䬮 ADG ṩᦞᵪᶴⲴሩ〠ᙗˈࡉ⛩ AˈJˈKˈLˈG ઼ D ൷൘ yz ᒣ
Ѫֻ˅˖俆‫ݸ‬䘎ᵶ AD ઼ DG ൘ D ⛩䙊䗷䖜ࣘ࢟˄R ࢟˅⴨ 䶒кˈфᵪᶴ‫ޣ‬Ҿ䈕ᒣ䶒ሩ〠DŽѪҶᯩ‫ׯ‬䇑㇇ˈᵪᶴⲴ৲
䘎˗❦ਾк䘠Ⲵєњ䘎ᵶⲴਖаㄟˈণ A ⛩઼ G ⛩࠶࡛䙊 ᮠᇊѹྲ㺘 1 ᡰ⽪DŽ
䗷ањ䖜ࣘ࢟䘎᧕ањॱᆇ䖤ˈф䘉єњ䖜ࣘ࢟䖤㓯൷઼
㺘 1 ᵪᶴ৲ᮠ㺘
D ⛩Ⲵ䖜ࣘ࢟䖤㓯↓Ӕ˗ᴰਾ A ⛩઼ G ⛩Ⲵॱᆇ䖤Ⲵ࢙։
ㅖਧ ৲ᮠ᧿䘠
Ⲵєㄟ࠶࡛Ҿ亦⛩অ‫ ݳ‬ABC ઼ GHI 䖜ࣘ䘎᧕ˈྲ↔ˈࡉㅜ
а᭟䬮єㄟо࠶࡛Ҿ亦⛩অ‫ݳ‬ᶴᡀањзੁ㢲˄U ࢟˅
DŽަ T1 䘎ᵶ AD ઼ DG Ⲵཀྵ䀂

Ԇєᶑ᭟䬮о亦⛩অ‫Ⲵݳ‬䘎᧕‫ޣ‬㌫оㅜаᶑ᭟䬮⴨਼ˈഐ T2 䘎ᵶ BE ઼ EH Ⲵཀྵ䀂

↔ˈᵪᶴवᤜ 8 њᵶԦˈ6 њ U ઼࢟ 3 њ䖜ࣘ࢟DŽ䈕ᵪᶴ T3 䘎ᵶ CF ઼ FI Ⲵཀྵ䀂

Ѫањ 3-URU ᒦ㚄ᵪᶴˈṩᦞ U ઼࢟䖜ࣘ࢟Ⲵ䝽㖞ˈᵪᶴ l  AD Ⲵ䮯ᓖ

൘а㡜⣦ᘱлѪ䶎䗷㓖ᶏᵪᶴˈਟṩᦞ G-K ‫ޜ‬ᔿ [13]

ᗇࡠᵪ l  AJ Ⲵ䮯ᓖ
ᶴ㠚⭡ᓖѪ˖ l3 JK Ⲵ䮯ᓖ
g rCM ᵪᶴ䍘ᗳ
M 6  n  1  ¦ (6  fi ) 6u 7  6u 4  5u 4 3 (1)
i =1

亦⛩ GHI ⴨ሩ亦⛩ ABC ާᴹањᒣ઼ࣘєњ䖜ࣘ㠚⭡

⌘᜿ࡠй䀂ᖒ ABC ઼ GHI Ѫ↓й䀂ᖒˈԔ AB Ⲵ䮯ᓖ
ᓖDŽ䙊䗷⇿ᶑ᭟䬮Ⲵѝ䜘䖜ࣘ࢟ণਟ᧗ࡦᵪᶴⲴုᘱ઼䘀
Ѫ aˈࡉᴹ
ࣘDŽ

3310
 ­r
>0  a 0@
T
°A
° T
®rB ª 3a / 2 0.5a 0 º (2)
¬ ¼
° T
°r ª  3a / 2 0.5a 0 º
¯C ¬ ¼

⭡ҾAJ // GL // ᒣ0䶒DEFˈਟᗇࡠйњ䘎ᵶADˈ
BE઼CFоxyᒣ䶒Ⲵཀྵ䀂൷Ѫ T1/2DŽᦞㅹᔿ˄2˅ˈDˈE
઼Fਟ㺘⽪Ѫ
­ T മ2 ᵪಘӪ㕙᭮䗷〻
ª § T1 · º
°rD «0  ¨ a  l1 cos 2 ¸ l1 sin T1 »
° ¬ © ¹ ¼
° T
° ª 3§ T1 · 1§ T1 · º
®rE « ¨ a  l1 cos ¸ ¨ a  l1 cos ¸ l1 sin T1 » (3) 3.1.2 ┊ࣘ࠶᷀
° «¬ 2 © 2¹ 2© 2¹ »¼
° T ṩᦞᵪᶴⲴ᭟᫁䜘սⲴн਼ˈᵪಘӪ࠶Ѫй⿽н਼Ⲵ
° ª 3§ T1 · 1§ T1 · º
°rF « ¨ a  l1 cos ¸ ¨ a  l1 cos ¸ l1 sin T1 » ᭟᫁⣦ᘱDŽྲമ 3 ᡰ⽪ˈ˄a˅亦⛩᭟᫁ˈ˄b˅亦⛩઼єњ
¯ «¬ 2 © 2¹ 2© 2¹ »¼
ᵶ᭟᫁⣦ᘱˈ
˄c˅亦⛩઼অᵶ᭟᫁DŽ ⭡Ҿ亦⛩᭟᫁⣦ᘱлˈ
ṩᦞᵪᶴⲴሩ〠ᙗˈਟᗇࡠ䍘ᗳսҾ op 䘎㓯Ⲵѝ⛩ˈ ᵪಘӪнっᇊˈഐ↔൘┊ࣘ࠶᷀ѝѫ㾱㘳㲁ਾє⿽᭟᫁⣦
᭵ᴹ ᘱDŽ
T
ª T1 º
rCM «0 0 l1 sin 2 » (4)
¬ ¼

J ઼ K ࠶࡛Ѫ AJ ઼ EF Ⲵѝ⛩ˈࡉᴹ

­rJ >0 0.5a 0@

T

°
°
® ª § T1 · T1 º
T (5)
മ3 ᵪಘӪⲴй⿽᭟᫁⣦ᘱ
°rK «0 0.5 ¨ a  l1 cos 2 ¸ l1 sin 2 »
°
¯ ¬ © ¹ ¼
ṩᦞ 3.1 㢲Ⲵ࠶᷀ˈᖃᵪᶴ༴Ҿമ 3˄b˅Ⲵ᭟᫁⣦ᘱ
ṩᦞㅹᔿ˄4˅ˈ䘋а↕ਟᗇࡠE˄JK઼KLⲴཀྵ䀂˅
лˈਟ䘋а↕ሶᵪಘӪㆰॆѪമ 4 ᡰ⽪Ⲵᒣ䶒ᵪᶴˈ↔ᰦ
઼l3┑䏣ㅹᔿ˄5˅Ⲵ‫ޣ‬㌫DŽ
⭡㲊ᤏⲴ䘎ᵶ JK ᭟᫁ᮤњᵪᶴDŽ൘ J ⛩ᔪ・ᯠⲴ඀ḷ㌫
­ E rK , z
°° tan O-XYZDŽ
2 rK , y  rJ , y
® (6)
° D
 rK , y  rJ , y   rK , z 2
2
°̄l3
Z T G
ሶㅹᔿ˄4˅ᑖ‫ޕ‬ㅹᔿ˄5˅ ˈ≲䀓ᗇࡠ p
­ § T1 · rCM
° E 2 arctan ¨ 2 tan ¸ L
° © 2¹ z
® (7) A
° 1 T T
°̄l3 l1 cos 2 1  sin 2 1 o O E Y
4 2 2
J l3 K
ྲമ 2 ᡰ⽪Ѫйњ⭥ᵪ਼↕䘀ࣘˈণTi Ӿ 20eࡠ 180e
y
Ⲵਈ䗷〻മˈᵪᶴ⭡ኅᔰ⣦ᘱ㕙ሿѪ㓶䮯Ⲵᵶ⣦㔃ᶴDŽ൘ മ 4 ㅹ᭸ᒣ䶒䘎ᵶᵪᶴ
㕙ሿ⣦ᘱᵪಘӪᡰঐⲴオ䰤䖳ሿˈ֯ᗇ൘ަۘᆈ઼䘀䗃ᯩ
Ԕ r'CM 㺘⽪ᵪᶴ൘ O-XYZ ඀ḷ㌫ѝ䍘ᗳˈṩᦞㅹᔿ
‫ׯ‬DŽ൘䟾ཆ⧟ຳѝ〫ࣘᰦˈҏᴹ᱃ҾᵪಘӪ䳀㯿㠚䓛DŽ
˄4˅
ˈ䙊䗷඀ḷ䖜ᦒˈਟᗇ

3311
 ª º 3.2 䖜ੁ࠶᷀
« 0 »
« » ൘ 3.1 㢲ѝ࠶᷀ҶᵪಘӪⲴ┊ࣘ৏⨶઼䗷〻ˈ⌘᜿ࡠ
T
«l sin 1 sin E  l cos E »
c
rCM (8)
«1 2 2
2
2» ᖃйњ⭥ᵪ਼ᰦ傡ࣘᰦˈᵪᶴਚ㜭⋯⵰ Y 䖤ᯩੁࡽ䘋ᡆ㘵
« T E E » ਾ䘰DŽ㤕൘മ 3˄c˅Ⲵ᭟᫁⣦ᘱлˈ֯ᗇоൠ䶒н᧕䀖Ⲵ
«l1 sin 1 cos  l2 sin »
«¬ 2 2 2 »¼ ᭟䬮к⭥ᵪн਼↕䘀ࣘˈቡ㜭֯ᗇᵪಘӪ䍘ᗳੁ᭟᫁ᵶⲴ
є‫ˈ〫ٿח‬䘋㘼֯ᗇᵪಘӪ㔅᭟᫁Ⲵ䘎ᵶੁє‫ח‬䖜ࣘԕ᭩
ᖃйњ⭥ᵪ਼↕䘀ࣘᰦˈᵪᶴ䍘ᗳ઼᭟᫁४ฏ൷ਁ⭏
ਈла↕Ⲵ┊ࣘᯩੁDŽྲമ 7 ᡰ⽪ˈ൘˄a˅⣦ᘱлˈ䍘ᗳ
ਈॆˈѪҶ䘋а↕ᗇࡠ䍘ᗳ઼᭟᫁४ฏⲴਈॆ䎻࣯ˈ䘹ᤙ
ᣅᖡ൘ DA ᵶѻ޵ˈ᧗ࡦ䀂ᓖT3 ਈབྷˈE ⛩ੁ DA ᵶⲴᐖ‫ח‬
а㓴㇇ֻDŽԔ l1 = 200mmˈl2 = 60 mmˈT1ę (20°ˈ180°˅
DŽ
〫ࣘˈࡉ䍘ᗳᣅᖡሶ⿫ᔰ DA ᵶˈᵪಘӪࡉ㔅 DA ੁᐖ‫ח‬㘫
ྲമ 5 Ѫ࡙⭘ MATLAB 〻ᒿᗇࡠⲴᵪᶴ䍘ᗳ Y 䖤ᯩੁⲴ
䖜ˈ֯ᗇ D ઼ E ⛩᧕䀖ൠ䶒˄മ 7˄c˅ᡰ⽪˅
DŽྲമ 8 ᡰ
࠶䟿ԕ৺ JK 䮯ᓖ l3 ࠶߉䲿T1 ਈॆⲴᴢ㓯മDŽ
⽪ˈྲ᷌໎བྷT2ˈࡉᵪಘӪሶ㔅 DA ੁਣ‫ח‬㘫䖜ˈ֯ᗇ D
200
Y (mm) ઼ F ⛩᧕䀖ൠ䶒DŽᵪಘӪ䖜ੁਾഎࡠоമ 3˄b˅⴨਼Ⲵ⣦
ᘱˈਟᢗ㹼ла↕Ⲵ┊ࣘ䘀ࣘDŽ䙊䗷к䘠Ⲵᯩ⌅ˈਟԕሩ
150 l3
r'CM, Y ᵪಘӪⲴ┊ࣘᯩੁ䘋㹼᧗ࡦˈ䘋㘼ᇎ⧠ᒣ䶒Ⲵ‫ޘ‬ᯩս䘀ࣘDŽ
100 F
F F
50
T3
E
0 E
T1 (e) D
-50 D D
0 60 120 180 A
A E

മ5 ᵪᶴ䍘ᗳо᭟᫁४ฏਈॆᴢ㓯മ (a) (b) (c)

മ7 㔅 DA ᵶᐖ‫ח‬䖜ੁ

ӾമѝਟᗇࡠᵪಘӪⲴ䍘ᗳ൘ൠ䶒Ⲵᣅᖡ˄r'CM Ⲵ Y F E
䖤ᯩੁ࠶䟿˅࿻㓸нՊ䎵ࠪ᭟᫁४ฏˈ᭵ᵪᶴ㾱ᇎ⧠┊ࣘ F

䘀ࣘˈ䴰㾱൘аᇊⲴ䙏ᓖᶑԦл‫׍‬䶐ᜟᙗ࣋┊ࣘDŽࣘ࣋ᆖ T2 E
E
┊ࣘਟ䟷⭘᮷⥞[10]ᨀࠪⲴ᧗ࡦᵪᶴ ZMP ⛩Ⲵᯩ⌅ᇎ⧠DŽ
F
ྲമ 6˄a˅ᡰ⽪ˈѪᵪᶴੁਣ‫ࣘ┊ח‬䗷〻⽪᜿മDŽᖃᵪಘ D
D D
Ӫ༴Ҿമ 3˄c˅Ⲵ᭟᫁⣦ᘱлˈ࡙⭘⴨լⲴᯩ⌅ˈമ 6˄b˅ A A

㔉ࠪҶᵪಘӪੁᐖ‫ࣘ┊ח‬䗷〻⽪᜿മDŽ
(a) (b) (c)

മ8 㔅 DA ᵶਣ‫ח‬䖜ੁ

4κԵⵕфᇔ僂
ѪҶ傼䇱ᵪᶴⲴ┊ࣘ㜭࣋ˈสҾ ADMAS ᔪ・ᵪᶴⲴ
(a)
й㔤⁑රˈṩᦞㅜй㢲Ⲵ䘀ࣘᆖ࠶᷀ˈሩަ䘋㹼ԯⵏDŽമ
9 ᡰ⽪ѪᵪಘӪⴤ㓯㹼䎠Ⲵԯⵏ䗷〻ˈമ 10 Ѫ䖜ੁⲴԯⵏ
䗷〻DŽ䙊䗷ԯⵏᇎ⧠ҶᵪᶴⲴ┊઼ࣘ䖜ੁ࣏㜭DŽ

(b)

മ6 ᵪಘӪ┊ࣘ䗷〻⽪᜿മ

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 ˄a˅ ˄b˅

˄c˅ ˄d˅ മ 12 ᵪಘӪ㕙᭮⣦ᘱ

മ9 ⴤ㓯┊ࣘԯⵏ

മ 13 ᵪಘӪ┊ࣘᇎ傼
˄a˅ ˄b˅

˄c˅ ˄d˅
മ 10 䖜ੁԯⵏ
മ 14 ᵪಘӪ䖜ੁᇎ傼

䘋а↕ൠˈṩᦞ࠶઼᷀ԯⵏⲴ㔃᷌ˈࡦ֌Ҷаਠ䈅傼
ṧᵪ˄ྲമ 11 ᡰ⽪˅
DŽ亦⛩䟷⭘䖫䍘ກᯉ༣ˈ㜭ާᴹаᇊ 5. 㔉䇰
ᕩᙗ߿ቁᵪಘӪ㘫┊оൠ䶒Ⲵ⻠ᫎDŽṧᵪާփቪረ઼⭥ᵪ
ᵜ᮷สҾ 3-URU ᒦ㚄ᵪᶴᨀࠪҶа⿽ 3 㠚⭡ᓖⲴਟਈ
৲ᮠ㺘 2DŽྲമ 12 ᡰ⽪ѪˈᵪಘӪ㕙᭮⣦ᘱമˈަѝᵪಘ
ᖒ┊ࣘᵪಘӪDŽ䇮䇑Ҷ⢩↺ URU ᭟䬮㔃ᶴˈ֯ᗇ䙊䗷᧗ࡦ
ኅᔰ⣦ᘱлєњ亦⛩ѻ䰤Ⲵ䐍⿫Ѫ 260mmˈ᭦㕙⣦ᘱлˈ
3 њ䖜ࣘ࢟ᇎ⧠ᮤփⲴ䘀ࣘDŽ䙊䗷ᵪᶴ䘀ࣘᆖ࠶᷀ӻ㓽Ҷ
єњ亦⛩䐍⿫Ѫ 585mmDŽമ 13 ઼മ 14 ࠶࡛ѪᵪಘӪ┊ࣘ
⭥ᵪ਼↕䘀ࣘᰦᵪಘӪⲴਈᖒԕ৺┊ࣘ৏⨶ˈ䘋а↕䇘䇪
઼䖜ੁⲴ䗷〻ᇎ傼DŽ
Ҷ⭥ᵪн਼↕䘀ࣘᰦⲴᵪᶴ䖜ࣘ㜭࣋ˈᴰਾ䙊䗷䇑㇇ᵪԯ
ⴤ⍱⭥ᵪ ⵏ઼ᇎ⢙ṧᵪ傼䇱Ҷ䇮䇑࣏㜭DŽ
зੁ㢲 ൘ਾ㔝⹄ウѝˈሶሩ⭥ᵪ਼↕䘀ࣘᰦⲴᵪಘӪࣘ࣋ᆖ
亦⛩ 䘋㹼࠶᷀ˈᗇࡠ⭥ᵪ䙏ᓖ઼࣐䙏ᓖሩ┊ࣘ㜭࣋Ⲵᖡ૽DŽ↔
URU᭟䬮 ཆˈ䘋а↕⹄ウ⭥ᵪн਼↕䘀ࣘᰦˈᵪಘӪ൘а㡜⣦ᘱл
᧗ࡦⴂ Ⲵ┊ࣘ㜭࣋࠶᷀DŽ

㠪䉘
മ 11 3-URU ┊ࣘᵪಘӪ䈅傼ṧᵪ
ᵜ᮷ᗇࡠҶഭᇦ㠚❦ส䠁˄51175030˅
ˈ儈ㅹᆖṑঊ༛
㺘 2 ṧᵪ৲ᮠ ᆖ、⛩у亩、⹄ส䠁䍴ࣙ䈮仈 ˄20130009110030˅઼ᮉ㛢
䜘᭟᫁ᢰᵟ亩ⴞ˄625010403˅Ⲵ䍴ࣙDŽ
䘎ᵶ䮯ᓖ 200 mm
亦⛩ⴤᖴ 100 mm
ᙫ䟽 2.5 kg ৸㘹ᮽ⥤

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⍻䈅䙏ᓖ 50-100 mm /s overview and recent development at TKK,” Field Serv. Rob.,

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[9] 㤇ᘇᘰˈည⠅ᆹˈ⭠㘰ᮼˈ4U ᒣ㹼ഋ䗩ᖒᵪᶴⲴа㊫ᯠ⭘
䙄üüᮤ䇮䇑Ѫє䏣↕㹼ᵪᶴˈᵪಘӪˈvol.33, no.4, pp.
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┊ࣘᵪಘӪˈк⎧Ӕ䙊བྷᆖᆖᣕˈvol. 46, no.6, pp. 949-956,
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* 䙊䇟֌㘵˖ည⠅ᆹˈyayao@bjtu.edu.cn

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