移动机器人6轮导杆联动式悬架设计及其平稳性分析  

Design and Stability Analysis of 6-Wheel Guide-Bar-Linkage Suspension for Mobile Robots

作　　者：魏毅龙[1] 程志红[1] 江海波[1] 张久雨[1] 李中凯[1] 

机构地区：[1]中国矿业大学机电工程学院,江苏徐州221116

出　　处：《机器人》2013年第6期665-671,共7页Robot

基　　金：国家自然科学基金资助项目(51005237)

摘　　要：根据移动机器人运行的地形条件,综合考虑爬越障碍、地形适应、主体平稳等因素,提出新型6轮导杆联动式悬架.介绍了悬架的组成和工作原理,建立了主体在路面上运行时车轮、地面与悬架组成的机构学模型,并从自由度计算的角度分析了悬架的地形适应性.运用Pro/E软件建立悬架参数化模型,并导入Pro/Mechanism中进行了单轮、双轮提升车体平稳性仿真试验,测出前、中、后轮高度独立和共同变化时车体的欧拉角;然后在ADAMS中仿真了悬架在综合地形下的通过性;最后利用初选参数制成物理样机,并用样机进行了爬坡、越障性能试验.测试结果表明:基于该悬架的移动机器人地形适应性强,各轮载荷分配均匀,能够爬越350 mm的垂直障碍.A new type of 6-wheel guide-bar-linkage suspension is proposed according to the rough terrain that mobile robots drive over, by considering the factors of obstacles crossing over, terrain adaptability and robot cab stability. Its structure and working scheme are thoroughly discussed, and a mechanical model, formed by wheels, terrain and suspension in the condition of the cab running over the terrain, is built. The suspension＇s terrain-adaptability is evaluated from the view of DOF（degree of freedom） computation. A parametric model of the suspension in Pro/E is built, the cab＇s stability simulations are conducted in Pro/Mechanism environment when single-wheel lifting and double-wheel lifting respectively, and Euler angles of cab are measured while the heights of front, middle or rear wheels independently or collaboratively changing. These tests are followed by simulations in ADAMS to examine the adaptability of the suspension in comprehensive terrain. Finally, a physical prototype is manufactured and performances of the prototype are tested in respect of grade climbing and obstacle crossing over. The results indicate that the distribution of load on the wheel is even, the adaptability to terrain is strong, and it can cross over a vertical obstacle as high as 350 mm.

关 键 词：移动机器人 行走机构 悬架 地形适应性 平稳性 

分 类 号：TH113.2[机械工程—机械设计及理论]