具有翻滚模式的可变形四足机器人结构设计与分析  

Design and Analysis of a Transformable Quadruped with Rolling Mode

作　　者：汪红波[1] 余联庆[2,3] 王玉金[2] 王立平[3] 

机构地区：[1]浙江师范大学,金华321019 [2]武汉纺织大学,武汉430073 [3]清华大学,北京100084

出　　处：《中国机械工程》2012年第22期2743-2747,共5页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(51275363);中国博士后科学基金资助项目(20100480291)

摘　　要：为了适应崎岖与平坦共存的非结构环境,提出了一种具有翻滚运动模式的可变形四足机器人。对可变形四足机器人进行了结构设计,并采用几何法得到了其结构参数,进而对其进行了静平衡配重,使得圆形滚动体的质心与形心重合。滚动体的直线翻滚模型可以简化为由弓形杆件组成的平面开链连杆机构。当杆系展开为非圆形滚动体时,由杆系质心离开平衡点而产生的重力矩驱动滚动体。利用D-H法推导了非圆滚动体在一个准静态滚动周期中的质心表达式。将圆形滚动体的结构参数代入表达式从而得到其在准静态滚动过程中质心偏置的变化情况,验证了结构设计和静平衡配重的合理性。To adapt to the unstructured environments where the terrain is irregular and plain alter- nately,a transformable quadruped robot which has rolling mode was proposed herein. The quadruped structure was designed and the structural parameters were also obtained by geometric method. In or- der that the mass center coincided with the centroid, static balance counterweight was made to the quadruped. The roller was simplified as open chain bow--shaped linkages as the rolling movement was discussed in a straight line. When the linkages were expended as noncircular form, gravitational mo- ment was generated as the mass center departed from the centroid,and the roller was self--propelled by the moment. The mass center expression of noncircular roller during a quasi--static rolling circle was derived using D--H method. The offset of mass center varied in a quasi--static rolling circle was figured out when the structural parameters of circular roller was inputted into the expression. The re- sults verify the rationality of structural design and counterweight.

关 键 词：可变形四足机器人 翻滚模式 质心 结构 配重 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]