轮腿复合式变位越障机器人结构构型与典型运动过程分析  

Analysis of the Structural Configuration and Typical Motion Process of Wheel Leg Composite Variable Displacement and Obstacle Surmounting Robot

作　　者：阴贺生 张秋菊 宁萌 

机构地区：[1]江南大学机械工程学院,江苏无锡214122 [2]江苏省食品先进制造装备技术重点实验室,江苏无锡214122

出　　处：《机械传动》2017年第12期1-6,共6页Journal of Mechanical Transmission

基　　金：国家自然基金面上项目(51575236);2016年度江苏省普通高校专业学位研究生实践创新计划项目(SJLX16_0486)

摘　　要：针对非结构环境的特性,提出一种适用于非结构环境的新型轮腿复合式变位越障移动机器人。这种移动机器人创新点在于机器人通过自身的变位变形不需要辅助即可实现将负载运送到高度差较大的升高表面上来实现大越障,比如完成跨越台阶、进入车子等一系列动作,并且可以保持机器人负载平面始终与地面平行,具有很强的环境适应能力和越障能力,本文中主要对该移动机器人在非结构环境下的斜坡行走、上下台阶、越沟功能进行运动性能分析。Aiming at the characteristics of unstructured environment, a new type of wheel leg compound variable displacement obstacle surmounting robot suitable for unstructured environment is proposed. The moving robot can deform and step across obstacles. This innovation is that the load acting on the robot can be transpor- ted to the height difference on the larger surface to achieve a large barrier by the robot through its own deforma- tion and without the aid, such as the completion of cross - step, into the car and a series of actions. In the process of crossing the barrier, the robot can keep the load plane parallel to the ground and the robot has a strong ability to adapt to the environment and the ability to cross the obstacle. The motion performance of the mobile robot in the non -structural environment of the ramp walking, up and down the steps, the more ditch, climb ladder function is mainly analyzed.

关 键 词：非结构环境 移动机器人 轮腿复合 越障 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]