可重构模块化机器人系统的爬坡能力研究  

Research on Climbing Capacity of Self-reconfiguration Modular Exploration Robots System

作　　者：张力平[1,2] 马书根[2,3] 李斌[2] 张政[2] 

机构地区：[1]长安大学,西安710064 [2]中国科学院沈阳自动化研究所,沈阳110016 [3]日本立命馆大学

出　　处：《中国机械工程》2009年第13期1551-1556,共6页China Mechanical Engineering

基　　金：国家863高技术研究发展计划资助项目(2006AA04Z254)

摘　　要：介绍了一种新型的可重构模块化星球探测机器人系统,详细分析了子机器人组合的三种基本构型:手臂在前,首尾相连成串状;手臂在后,首尾相连成串状;两个子机器人首尾相连成环状。以两个子机器人为例,对爬坡过程中子机器人系统的各种组合形式进行了静力学分析,在此基础上,对机器人组合的爬坡能力进行了仿真研究,结果表明子机器人组合的爬坡能力与其连接构型紧密相关。实际试验很好地验证了仿真结果,同时,以实际试验为基础,得出了如下结论:在爬坡过程中,手臂在前的串状连接的机器人组合的运动稳定性较差,首尾相连的环状连接的机器人组合是子机器人组合爬坡的首选构型。A new self--reconfiguration modular exploration robots system（RMERS） was intro- duced herein. Three basic configurations of RMERS child--robots were analyzed in detail： the serial connection with arm ahead; the serial connection with arm behind; and the loop connection with end to end. Taking two child--robots for examples, the statics of every combination for the child--robot systems on slope were analyzed. Based on these, the simulation experiments based on the real model parameters were researched on the child--robot configurations, and the results show that the climbing capability of different configurations has tight correlation with their connection style. The serial connection with arm ahead is the strongest in climbing. The real experiments validate the simulation resuits. At the same time, according to the experimental results, it indicates that the stability of the serial connection with arm ahead is worse, and the loop connection with end to end is the best configuration for its stability and good climbing capacity.

关 键 词：机器人 静力学 构型分析 爬坡能力 

分 类 号：TP224[自动化与计算机技术—检测技术与自动化装置]