一种轮腿式越障机器人的设计与分析  

Design and Analysis of a Wheel-legged Obstacle Climbing Robot

作　　者：杨帆[1] 吴贺利[1] 罗晨晖[1] 

机构地区：[1]武汉科技大学城市学院机电工程学部,湖北武汉430083

出　　处：《机械传动》2017年第5期198-203,共6页Journal of Mechanical Transmission

摘　　要：针对轮腿式越障机器人,设计了一种新型可变结构的车轮,使得机器人可以在轮腿之间切换。介绍了可变结构的车轮的工作原理,在Pro/E中建立了三维模型;对车轮的展开范围进行了理论分析。为了验证分析结果,在ADAMS中对车轮的展开过程进行运动仿真。仿真结果与理论分析结果相近,说明所设计的车轮结构具有可行性。最后分析了该车轮的越障性能,结果表明,当车轮展开后,理论越障高度是展开前的2.2倍,并且成功攀越了200 mm高的台阶,表明该车轮结构具有较高的越障能力,可以应用到轮腿式越障机器人中。Aiming at the wheel - legged type obstacle robot, a novel metamorphic wheel for wheel - legged obstacle climbing robot （WOCR） is designed to make the robot to switch between wheels and legs. Firstly, the working principle of the metamorphic wheel is introduced and the three dimension model is established in Pro/ E. Sec, ondly, the deploy angle range of the wheel is analyzed in theory. The kinematic simulation for the deploy progress is carried out in ADAMS to verify the theoretical analysis result. The simulation result is similar to the theoretical result, which indicates the wheel structure is viability. At last, the obstacle climbing performance of the wheel is analyzed and the result shows the height of obstacle climbing after deploying the wheel is 2. 2 times than that before deploying and succeed in climbing a 200 mm high step. These indicate that the wheel possessed high capacity of obstacle climhing and can be applied in WOCR.

关 键 词：轮腿式机器人 越障 变结构 运动仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]