一种复杂环境高机动性轮式移动平台  

A High Speed Wheeled Mobile Platform for Complex Environments Adaptation

作　　者：李之豪 骆敏舟 任彤 徐孝彬 谭治英 LI Zhi-hao;LUO Min-zhou;REN Tong;XU Xiao-bin;TAN Zhi-ying(Jiangsu Key Laboratory of Special Robot Technology,Mechanical and Electrical Engineering College,Hohai University,Changzhou 213022,China)

机构地区：[1]河海大学机电工程学院江苏省特种机器人技术重点实验室,河海大学机电工程学院,常州213022

出　　处：《科学技术与工程》2020年第2期648-653,共6页Science Technology and Engineering

基　　金：中央高校基本科研业务费专项资金(2017B21114,2016B12414)。

摘　　要：移动机器人在星球探测,户外侦查,灾难搜救,以及军事等领域有着广阔的应用前景。为了设计一款能代替人类在复杂环境进行作业的小型高速移动机器人,侧重于横向非结构地形,提出了一种拥有被动悬架的轮式移动平台,对其结构进行了三维建模,对越障结构和减震系统进行了力学计算,为评估其越障性能进行了动力学仿真,为其动力系统和控制系统进行了选型和配置,组装一代样机并进行了实验。实验结果表明该样机能够较好地适应横向地形。Mobile robots have broad application prospects in the fields of planetary exploration,outdoor detection,disaster search and rescue,and military maneuver.To design a small high-speed mobile robot that can replace humans in complex environments,a wheeled mobile platform with passive suspension was proposed focusing on sideways unstructured terrain.The structure was modulated in 3-dimention,the obstacle structure and the damping system were calculated in mechanics,a dynamics simulation was proposed to evaluate the obstacle performance,and the power system and control system were selected and configured.A prototype was assembled and tested.The experimental results show that the prototype can adapt well to aside ways terrain.

关 键 词：被动悬架 轮式移动平台 越障 横向非结构地形 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]