自抬升越障导盲机器人设计  

The Design of Self-lifting Obstacle Crossing Guide Robot

作　　者：黄大志 王晓丽 申屠留芳[2] HUANG Dazhi;WANG Xiaoli;SHENTU Liufang(Jiangsu Key Laboratory of Large Scale Engineering Equipment Inspection and Control,Xuzhou Institute ofTechnology,Xuzhou Jiangsu 221000,China;Marine Resources Development Institute of Jiangsu（Lianyungang）,Lianyungang Jiangsu 222005;Jiangsu Key Laboratory of Function Control Technologyfor Advanced Materials,Huaihai Institute of Technology,Lianyungang Jiangsu 222005,China)

机构地区：[1]徐州工程学院江苏省大型工程装备检测与控制重点建设实验室,江苏徐州221000 [2]江苏省海洋资源开发研究院(连云港),淮海工学院,江苏连云港222005 [3]江苏省先进材料功能调控技术重点实验室,淮海工学院,江苏连云港222005

出　　处：《机床与液压》2018年第11期33-37,共5页Machine Tool & Hydraulics

基　　金：江苏省大型工程装备检测与控制重点建设实验室资助项目(JSKLEDC201307); 连云港市科技项目(CG1608); 江苏省先进材料功能调控技术重点实验室资助项目(JKLFCTAM1705); 淮海工学院自然科学基金项目(Z2017007)

摘　　要：设计并制作了一款自抬升越障的导盲机器人,此机器人可在平坦道路上快速安全行走,遇到障碍时能够语音提示,并越过路肩等较低障碍物。该机器人采用了新型的越障机构,动作平稳。介绍了越障机构的工作原理,对越障机构进行了建模,采用拉格朗日方程对其进行了动力分析,选择了合适的动力部件,经过实验验证,证明该机器人运动平稳,可以轻松完成越障功能。A self-lifting obstacle crossing guide robot is designed. The robot could quickly and safely walk on flat roads,make a sound of the speech information when encounter obstacles,and cross the lower obstacle shoulder of a road. The robot was used of a new obstacle crossing mechanism with smooth movement. The working principle of the obstacle crossing mechanism was introduced,the model of obstacle crossing mechanism was built,the dynamic analysis using the Lagrange equation was completed,and the appropriate power components were selected. Through experimental verification,the robot can easily realize the obstacle crossing function with smooth movement.

关 键 词：越障机构 导盲机器人 拉格朗日方程 运动分析 

分 类 号：TH39[机械工程—机械制造及自动化]