中文摘要：

研究一种主臂可变构型履带自张紧式救援机器人,针对履带张紧问题,应用椭圆形成原理,能够从理论上保证机器人构型变化时履带的形变量为0 mm,从而可以获得更好的履带张紧效果;通过引入摆臂三角轮机构丰富了构型变化,提高机器人的越障性能。对机器人攀爬台阶、斜坡及爬越沟道的运动机理进行分析,建立运动学模型。研究结果表明：机器人的实际越障性能与理论计算结果相符,具备良好的越障能力。

英文摘要：

A robot with variable main arm configuration and automatic-strained track was studied. Aiming at the problem of track straining, a better effect of track straining was obtained using the ellipse forming principle and ensuring the shape variable of track was 0 mm. Through introducing the swinging-wheel, the variation of configuration was enriched and the obstacle-crossing capability of robot was improved. The movement mechanism of robot platform carrying out tasks of navigating stairs, climbing slopes and crossing trenches was analyzed. A kinematic model was built, and the maximum obstacle-crossing capability in corresponding environment was generated. The results show that the experimental result of robot obstacle-crossing capability is consistent with that of theoretical calculation, and the robot has good obstacle-crossing capability.