蛙板滑行机器人转弯运动特性研究  

Research of frog skating robot′s steering performance

作　　者：徐子力[1] 卢松[1] 黄智洪[1] 杨文俊[1] 

机构地区：[1]上海大学机电工程与自动化学院,上海200070

出　　处：《机械设计》2017年第1期88-94,共7页Journal of Machine Design

基　　金：国家自然科学基金资助项目(61433016)

摘　　要：依据人在蛙式滑板车上的运动特点,研制了一种新型蛙板滑行机器人。从仿生角度设计机器人的驱动装置,使机器人可实现双臂对称摆动和单臂摆动两种基本运动形式。对机器人在两种转弯方式下的转弯性能进行分析,给出了机器人方向轮转弯半径计算公式。应用MATLAB对机器人转弯特性进行仿真分析,并采用3D运动捕捉系统建立实体样机测试平台,对样机在不同转弯方式下的运动特性进行试验验证,研究结果验证了蛙板机器人转弯运动模型的合理性和正确性。A novel Frog Skating Robot was designed according to the motion principle of frog scooter. The robot＇s driving devices were designed based on the perspective of the bionics. Therefore, the robot could achieve two basic motion forms ： sin- gle-arm swing and double-arms swing. Then, the robot＇s steering performance under two ways of turning were analyzed to calcu- late the formula of front wheel turning radius. The simulations of steering performance were performed using MATLAB. More- over, the 3D Motion Capture System was used to establish prototype test platform. The test verification was performed on the prototype with different type of turning. Experimental results validated the reasonability and correctness of robot＇s turning motion model.

关 键 词：从动轮式机器人 蛙板滑行机器人 转弯性能 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]