轮腿式机器人倾覆稳定性分析与仿真  

Analysis and Simulation for Wheel-legged Robot Tumble Stability

作　　者：田海波[1] 方宗德[1] 周勇[1] 李声晋[1] 张国胜[1] 

机构地区：[1]西北工业大学机电学院,西安710072

出　　处：《系统仿真学报》2009年第13期4032-4037,共6页Journal of System Simulation

基　　金：西北工业大学研究生创业种子基金(Z200724)

摘　　要：在复杂的三维地形中,移动机器人的抗倾覆能力非常关键。针对非结构化环境对小型移动机器人的运动要求,设计了一种具有多驱动模式的轮腿式机器人。该机器人采用对称结构,有四个独立的运动单元,能够变化多种构型。采用动态能量稳定锥方法和倾覆稳定性指数对机器人的稳定性进行综合评价。分析了机器人变形过程中的稳定性变化,以及存在路面干扰和惯性力干扰时机器人六种典型能动构形的动态倾覆稳定性。仿真试验表明,该机器人的多种能动构型有利于提高其倾覆稳定性。In uneven terrains, tumble stability is critical to a mobile robot. Aiming at the moving requests of miniature mobile robot on unstructured environment, a wheel-legged robotic platform with multi-configuration was developed. This reconfigurable robot has a symmetrical structure and four independent wheel-legged articulations which can generate a series of configurations. A dynamic energy stability pyramid and a tumble stability index were adopted to determine its stability comprehensively. Then, the robot stability in configuration change was discussed. And, the dynamic tumble stabilities of six typical configurations were studied when the inertial forces and road disturbances occurred. The analysis results imply that the multiple configurations can improve the tumble stability greatly.

关 键 词：轮腿式机器人 可变构形 倾覆稳定性指数 仿真分析 非结构化环境 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]