高机动越障机器人攀登机构的关键问题解析  

Key Problem Analysis of the Climbing Structure of Highly Mobile Over-Obstruct Robots

作　　者：汪新[1] 杨栋[1] 许旻[1] 范明聪[1] 吴月华[1] 杜华生[1] 杨杰[1] 

机构地区：[1]中国科学技术大学精密机械与精密仪器系,安徽合肥230027

出　　处：《中国科学技术大学学报》2005年第4期506-511,537,共7页JUSTC

基　　金：国家"863"(2001AA422410)资助项目.

摘　　要：介绍了一种适合于野外非结构环境下的移动机器人,它由双曲柄加弹簧的攀登机构和两个四边形高架机构的组合变形机构组成,越障过程表现出足与轮的双重功能,具有很强的自越障能力.基于六轮高机动性越障机器人,对攀登机构进行了力学建模,采用ADAMS仿真和实验法,对攀登机构的结构参数进行了优化,并采用虚位移原理对有弹簧和无弹簧的力学分析进行了比较,定量地分析验证了弹簧在越障过程中所起的至关重要的作用.This paper presents a mobile robot which is adaptive to unknown unstructured environments. It includes a combined transformed structure consisting of a climbing structure with double cranks and springs and two high-position quadrangles. The combination of wheels and feet has been realized so that the structure has strong self over-obstruct ability. Based on the six-wheel highly mobile over-obstruct robot, a mechanical model of the climbing structure is constructed and a method of optimization is presented for the structure parameter of the climbing structure with ADAMS simulation tool and experiment means. Subsequently, a comparison of the mechanical analysis of cranks with and without springs is performed by the principle of virtual displacement which analyses quantificationally and verifies the important effect of climbing structures＇ springs during over-obstruct process.

关 键 词：攀登机构 优化设计 双曲柄机构 虚位移原理 越障机器人 机构组成 高机动性 攀登 解析 移动机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TL-26[自动化与计算机技术—控制科学与工程]