小型车式移动机器人转向机构的设计与优化  

Design and Optimization of Steering Mechanism for a Small Car-Like Mobile Robot

作　　者：陶茂林 隋春平[1] 

机构地区：[1]中国科学院沈阳自动化研究所,辽宁沈阳110016 [2]中国科学院大学,北京100049

出　　处：《机械设计与制造》2017年第11期105-108,113,共5页Machinery Design & Manufacture

摘　　要：针对某小型车式移动机器人实现精确转向的要求,对其转向机构的构型设计与参数优化问题展开了研究。通过综合分析四种不同构型方案的特点,确定了采用一种舵机驱动的双梯形转向机构;推导了该机构的运动学关系式,并以跟踪理想阿克曼转角为优化目标,以布置空间的不干涉条件等作为约束,建立了该机构优化设计的数学模型;借助Matlab优化工具箱进行求解分析,确定了转向机构最终的构型组成与尺寸参数;优化结果表明所设计的转向机构能精确地近似实现理想的阿克曼转角关系。Aiming at the requirement of accurate steering of a small car-like mobile robot, the problems of configuration design and parameter optimization of its steering mechanism are studied. By comprehensively analyzing the structure characteristics of four different configuration schemes, a type of double trapezoidial steering mechanism that driven by a servo is adopted; the mathematical model of optimization design for this mechanism is established by deducing its kinematics equation, using ideal Ackermann angle as optimization objective and non-interference condition of the space as constraint; applying Matlab optimization toolbox to solve and analyse, the optimal configuration and dimension parameters of the mechanism are determined finally; the optimization results show that the steering mechanism can track the ideal A ckermann angle pretty accurately.

关 键 词：车式移动机器人 转向机构 阿克曼转角 优化设计 

分 类 号：TH16[机械工程—机械制造及自动化] TH132