一种形变移动机器人智能转向过程研究  

A new method of intelligent steering control for deformation mobile robot

作　　者：蒋正炎[1] 张军朝[2] Jiang Zhengyan;Zhang Junchao(Changzhou Vocational Institute of Light Industry,Changzhou 213164,Jiangsu,China;College of Electrical and Power Engineering,Taiyuan University of Technology,Taiyuan 030024, China)

机构地区：[1]常州轻工职业技术学院电子电气工程系,常州213164 [2]太原理工大学电气与动力工程学院,太原030024

出　　处：《现代制造工程》2019年第3期38-43,101,共7页Modern Manufacturing Engineering

基　　金：江苏省"青蓝工程"优秀教学团队项目(20180620);江苏省协作机器人开发应用工程技术研究开发中心项目(苏教科20181019)

摘　　要：针对链式转向半径大、转向时间长的问题,基于形变移动机器人所具备的形状可变性的特异性能,提出了在直线构型的情况下按照滑移的方式来实现智能转向的设计模式。通过对转向过程中设计的参量进行处理,对主体结构滑移过程的分解和剖析,建立了对应的受力模型,分析了其运动学及动力学特征,计算了变形阻力矩及所需的牵引力等。通过实验分析,结果表明,该方案有效减小了机器人旋转半径和转向时间,增大了转动过程的效率和效果。该方法用于形变移动机器人智能转向控制是可行的、有效的。Based on the chained turning problems of big turning radius and long turning time as well as the deformable mobile robot’s special function of deformation,an intelligent turning design model is proposed according to the sliding way under the condition of the linear structure. By processing the design parameters of turning processes,separating and analyzing of main sliding process of the major structure,it establishes corresponding mechanical models,analyzes kinematic and dynamic characteristics,calculates the moment of deformation resistance and the required traction and etc. Through experimental analysis,the results show that the proposed plan effectively reduces the turning radius and time of the robot,increases the efficiency and effect of turning processes. This method is feasible and effective when being used in the intelligent turning control of deformable mobile robot.

关 键 词：转向控制 形变移动机器人 受力模型 直线构型 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]