变形轮移动机器人性能分析与仿真  

Performance Analysis and Simulation of Deformation Wheeled Mobile Robot

作　　者：赵玲亚[1] 王英健[2] 刘宏伟 Zhao Lingya;Wang Yingjian;Liu Hongwei(Mechanical and Electrical Engineering Department,Langfang Polytechnic Institute,Langfang 065000,China;School of Physics and Electricity,Langfang Normal University,Langfang 065000,China;School of Mechanical and Electrical Engineering,North China Institute of Aerospace Engineering,Langfang 065000,China)

机构地区：[1]廊坊职业技术学院机电工程系,河北廊坊065000 [2]廊坊师范学院物电学院,河北廊坊065000 [3]北华航天工业学院机电工程学院,河北廊坊065000

出　　处：《机械传动》2020年第5期134-138,175,共6页Journal of Mechanical Transmission

摘　　要：设计了一种变形轮移动机器人,通过控制舵机来实现轮式结构和三轮辐弧形腿式结构之间的相互转换。应用变形轮工作原理,对其进行了运动学建模和越障能力的分析,运用Adams软件对变形轮移动机器人进行越障能力的动态仿真,验证了运动学分析的正确性,并得到了位移、速度、加速度的运动规律曲线;运用Abaqus软件对其进行有限元仿真,得到了应力应变图及振型图。分析表明,该移动机器人强度、刚度及振动满足设计要求。研究为变形轮移动机器人的理论研究提供了重要参考。A kind of mobile robot with deformation wheel is designed,the conversion between wheel struc ture and three spoke arc leg structure is realized by controlling the steering gear.On the basis of the working principle of the deformation wheel,the kinematic modeling and the analysis of the obstacle surmounting ability are carried out.The dynamic simulation of the obstacle surmounting ability of the deformation wheel mobile ro bot is carried out by using Adams software,the correctness of the kinematic analysis is verified,and the motion law curves of displacement,velocity and acceleration are obtained.The finite element simulation of the deforma tion wheel is carried out by using Abaqus software,and the stress-strain diagram is obtained and vibration mode diagram.The analysis shows that the strength,stiffness and vibration of the mobile robot meet the design require ments.The theoretical analysis has important reference value for the research of mobile robot with deformed wheels.

关 键 词：变形轮 运动学分析 越障能力 仿真分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]