被动自适应机器人机构学与运动机理研究  

Study on wheel-track robot with self-adaptive ability

作　　者：张明路[1] 李凡[1] 吕晓玲[1] 田颖[1] Zhang Minglu Li Fan Lu Xiaoling Tian Ying(School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, China)

机构地区：[1]河北工业大学机械工程学院,河北天津300130

出　　处：《华中科技大学学报（自然科学版）》2017年第3期46-50,共5页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(61473113;61503119)

摘　　要：针对复杂地面环境提出一种具有被动自适应能力的轮-履复合移动机器人,该机器人主要由车体模块和轮-履复合模块组成.轮-履复合模块由平面连杆机构演化而来,具有一个自由度,在单驱动力作用下可根据环境中的约束表现为不同的运动模式.通过分析机器人各构件间运动关系,建立了轮-履复合模块的数学模型,并对机构各参数进行了优化.对机器人的爬坡、翻越台阶等运动能力进行了分析,并使用多刚体软件进行仿真实验,验证结构设计和参数选择的合理性.A concept of a wheel-track robot was proposed based on the mechanism of passive self-adaption.The wheel-track robot was formed with two parts,the body and two wheel-track units.The wheel-track unit was evolved from planer linkages with one degree of freedom and it has two locomotion modes which are driven by one servo system when confronted with different circumstances.After the kinetic analysis of the relations between the components,the mathematic model was established and the parametric optimization was also conducted.Then,the kinetic ability for slope-climbing and stair-climbing was analyzed.At last,the kinetic simulation of the robot was performed by using multi-rigid-body applications.And the results of the simulation reveals the rationality of the original design and parameter configuration.

关 键 词：移动机器人 自适应 轮-履复合 结构设计 参数优化 RecurDyn仿真 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]