一种新型轮椅机器人爬越楼梯过程倾翻稳定性分析  

Tip-over Stability Analysis for Stair-Climbing of a New-Style Wheelchair Robot

作　　者：于苏洋[1,2] 王挺[1] 李小凡[1] 姚辰[1] 

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [2]中国科学院研究生院,北京100039

出　　处：《中国机械工程》2010年第22期2740-2745,共6页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(6005048)

摘　　要：提出了一种采用新型变形履带机构的轮椅机器人,这种新型机构能够在主动张紧力控制的基础上配合"凸"形地形使履带构型产生"凹"形变。针对爬越楼梯这种典型的越障运动,给出了机器人构型变化规律以及乘坐者姿态描述方法,并利用Force-Angle方法通过系统质心计算以及危险倾翻边线判定得到了能够反映机器人爬越楼梯过程倾翻稳定性状况的倾翻稳定角。仿真分析了机器人在自身不同运动状态及乘坐者不同姿态等影响下爬越楼梯过程的倾翻稳定性变化情况。A wheelchair robot equipped with a new-style variable-geometry-tracked mechanism was proposed.This new-style mechanism can adapt to convex terrain and turn to concave geometry by active control of track tension.Aiming at climbing stairs,the transformation rule of the robot configuration and description of the passenger attitude were presented.The tip-over stability angle was gained by calculation of the whole system’s COM（center of mass）and judgement of the critical tip-over mode axes with Force-Angle stability measure.Finally,the simulation for stair-climbing of the robot was performed,and the variation of the stability margin under different conditions of the robot movement and passenger attitude was obtained.

关 键 词：轮椅机器人 变形履带机构 倾翻稳定性 Force-Angle方法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]