基于欠驱动原理的变形连杆履带机构设计  

Deformation and connecting rod mechanism design based on underactuation principle

作　　者：张小俊[1] 张明路[1] 张建华[1] 杨叶雷 ZHANG Xiao-jun,ZHANG Ming-lu, ZHANG Jian-hua, YANG Ye-lei(School of Mechanical Engineering, Hebei University of Technology, Tianjin 30013)

机构地区：[1]河北工业大学机械工程学院,天津300130

出　　处：《机械设计》2018年第3期43-48,共6页Journal of Machine Design

基　　金：国家高技术研究发展计划(863计划)资助项目(2012AA041508);河北省基础研究计划资助项目(17961820D)

摘　　要：针对移动机器人在各种地面环境中越障能力有待增强的问题,基于行星轮式的欠驱动原理,结合变形连杆履带机构,设计了一种移动机器人的行走机构,并分析该机构内部杆件的姿态角和外围包络履带的变形程度对欠驱动移动机器人行走性能的影响,最后以履带长度不变为目标,对行走机构参数进行优化。试验分别采用MATLAB对杆件姿态角和履带长度进行分析和优化,同时利用Recurdyn分别在平地、斜坡和沟槽环境中进行运动学仿真,验证文中优化设计的欠驱动移动机器人机构的优良越障性能。For mobile robot obstacle-navigation ability in all kinds of ground environment remains be enhanced, based on the underactuation principle of planetary wheel, combined with the deformation of connecting rod crawler mechanism, a mobile robot walking mechanism is designed; The effect of the attitude angle of bar and the outer envelope of track deformation degree on the performance of the underactuated mobile robot walking is analyzed. Finally, taking the length of the track as the target,running gear parameters are optimized. The attitude angle and length of track bar is analyzed and optimized respectively with MATLAB, at the same time, kinematics simulation is finished using Recurdyn in the ground, the slope and grooves, and the obstacle ability of the optimized mechanism of underactuated mobile robot is verified.

关 键 词：欠驱动机器人 行走机构 变形连杆 越障能力 

分 类 号：TP16[自动化与计算机技术—控制理论与控制工程] TP391[自动化与计算机技术—控制科学与工程]