一种轮腿复合式仿生机器人设计  

A wheel-legged biomimetic robot design

作　　者：迟志康 宋欣 杨磊 CHI Zhi-kang;SONG XinCorrespondingAuthor;YANG Lei(College of Engineering and Technology,Tianjin Agricultural University,Tianjin 300384,China)

机构地区：[1]天津农学院工程技术学院,天津300384

出　　处：《天津农学院学报》2018年第3期87-91,104,共6页Journal of Tianjin Agricultural University

基　　金：国家自然科学基金(51305299);天津农学院高校教师教育改革创新引导发展项目(20170502)

摘　　要：针对极端非结构化工作环境下对移动机器人的使用需求,提出了一种轮腿复合式仿生机器人的设计方案,能够根据地形条件变换成六足和轮式两种移动模式,使其在移动过程中能够兼具良好的机动性能和越障能力。通过机械结构和控制系统设计,实现了机器人在移动过程中轮/腿运动模式切换和行走功能。经过对其工作空间的理论计算和物理样机行走实验测试,证明该机器人具备一定的行走能力和越障能力。For the mobile robot used in extremely unstructured working environment, a design schemeof wheel-leggedbiomimetic robot was proposed in the paper. Six-foot and wheel mode could be changed according to the terrain condition, so thegood mobility and obstacle performance were obtained during the movement. Through the mechanical structure and controlsystem design, the wheel/leg motion mode switching and walking for the robot was realized during the movement process. Aftertheoretical calculation for the working space and experimental testing for physical prototype walking, it was proved that the robothas a certain ability to walk and overstep.

关 键 词：轮腿复合式 仺生机器人 控制系统 工作空间 三角步态 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]