步履式救援机器人新型越障结构与越障步态分析  

Analysis of New Crossing Obstacle Mechanism and Motion Planning for Walking Type Rescue Robot

作　　者：王福德 寇智慧 王福利[2] 李艳杰[3] 

机构地区：[1]徐工集团道路机械事业部 [2]武汉理工大学信息工程学院 [3]沈阳理工大学机械工程学院

出　　处：《工程机械》2015年第3期32-36,57,共6页Construction Machinery and Equipment

基　　金：国家"863"计划重点项目(2012AA041508)

摘　　要：利用P ro/E设计步履式救援机器人及其新型越障结构,将其导入ADAMS后添加约束、运动和外力,建立机器人虚拟样机仿真模型;创建2 m高垂直障碍和45°斜坡的非结构化地形以建立虚拟的灾害环境;通过S TEP函数来规划步履式救援机器人翻越垂直障碍和爬坡的步态,研究其在不同非结构化地形环境下的步态规划和越障性能,并分析步履复合行走结构对非结构化地形的越障性、适应性和可靠性;通过机器人实体样机越障试验验证新型越障结构的越障性以及步态规划的合理性。所得结论可为步履式救援机器人行走结构的设计优化,及其复杂地形越障能力、适应能力和越障可靠性的提高,以及越障风险性评估、步态的优化等提供参考。The simulated model for a virtual prototype robot was constructed to design,by using Pro/E,a walking type rescue robot and its new type barriers crossing mechanism which was introduced into ADAMS before restriction,mobility,and outward force were added thereto.,while building up a barrier of 2 m high and a slope in45° to have formulated a virtual trouble ground and the environment which was an unstructured terrain.And then,stepping of the robot was planned with step functions to cross vertical barriers and slopes,so as to verify its climbing capability,suitability,reliability and operational logics under such conditions.The conclusion can provide a reference for such designs to come in terms of optimization,assessments,upgrades,and improvements.

关 键 词：步履式救援机器人 ADAMS 非结构化地形 步态规划 越障性能 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]