一种轮足式爬楼梯机器人的倾翻稳定性研究  

Tip-over stability of wheel stair-climbing robot

作　　者：刘娟秀[1] 吴益飞[1] 郭健[1] 陈庆伟[1] 

机构地区：[1]南京理工大学自动化学院,江苏南京210094

出　　处：《南京理工大学学报》2015年第6期643-649,共7页Journal of Nanjing University of Science and Technology

基　　金：国家自然科学基金(61074023)

摘　　要：为研究载人机器人的倾翻稳定性,针对一种新型轮足式爬楼梯机器人,提出了分析方法。考虑爬楼梯机器人具有人机交互的特殊性,将地形和人体坐姿对机器人的影响等效为干扰力和干扰力矩,结合力-角度量法和稳定锥方法计算机器人的动态稳定性指数。分析了机器人爬楼梯过程的动态稳定性并进行仿真,同时仿真比较了机器人的四种构型在440 N的干扰力和135 N·m干扰力矩作用下的抗倾翻性能。仿真结果表明了该轮足式爬楼梯机器人在运动过程中具有较好的稳定性。To study the tip-over stability of human-carrying robots,a tumble stability analysis method is proposed for a wheel stair-climbing robot. Considering that the robot has a characteristic of humaninteractivity,the influences of terrain and human attitude are equivalent to a disturbing force and a torque,and the dynamic stability index of the robot is calculated by combing the force-angle measure with the stability pyramid technique. The dynamic stability of the robot during the stairs ascending process is analyzed and simulated. The tip-over stabilities of the robot＇s four motile configurations are compared under the disturbance force of 440 N and torque of 135 N·m. The simulation results show that the wheel stair-climbing robot has good tip-over stability in motor process.

关 键 词：爬楼梯机器人 载人机器人 倾翻稳定性 轮足式机器人 地形 人体坐姿 干扰力 干扰力矩 力-角度量法 稳定锥方法 

分 类 号：TM351[电气工程—电机]