可抛掷移动机器人上下楼梯机构设计及仿真  

Design and Simulation of Throwable Mobile Robot Stair-Climbing Mechanism

作　　者：张世隆[1] 施家栋[1] 王建中[1] 朵英贤[1] 

机构地区：[1]北京理工大学爆炸科学与技术国家重点实验室,北京100081

出　　处：《北京理工大学学报》2016年第6期574-580,共7页Transactions of Beijing Institute of Technology

基　　金：长江学者和创新团队发展计划(IRT1208)

摘　　要：针对可抛掷移动机器人体积小、质量轻,便于携带和快速部署,受自身体积限制,目前可抛掷移动机器人均不具备上下楼梯功能的问题.提出一种适用于可抛掷机器人的垂直上下楼梯机构,通常情况下,仍以抛投的形式进入工作环境,当需要进行多楼层搜索时,加装上下楼梯模块,而后以遥控模式驶入工作区.针对该机构进行控制方案设计,并基于RecurDyn及Simulink软件建立机械-控制系统模型,对机器人不同初始姿态的情况下进行上下楼梯动力学仿真.结果表明,可抛掷移动机器人能够实现自主上下楼梯功能,上下楼梯过程动作平稳.该机构解决了机器人上下楼梯性能与机器人体积重量之间的矛盾.Characterizing small and light,throwable mobile robots are portable and easy to be deployed,so they are widely used in investigation,rescue,detecting and so on.But throwable mobile robots could not climb up stairs for their small dimensions.In this paper,a stair-climbing mechanism was presented for throwable mobile robots.In common cases,the robot still was deployed by throwing.The stair-climbing mechanism only was equipped when the robot had to work on different floors,and the robot must be controlled remotely into work space.A control strategy was designed corresponding to that structure,and a mechanism-control system model was established based on Recurdyn and Matlab/Simulink software.The results of virtual stairclimbing experiments show that,the robot can autonomously climb stairs up and down steadily with this mechanism. This mechanism can solve the contradiction of throwable robots＇ dimensions and their stair-climbing capability.

关 键 词：可抛掷移动机器人 自主上下楼梯 机械-控制系统模型 动力学仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]