全地形六轮移动机器人的设计与制作  

Designand Manufacture of an All-Terrain Six Wheel Mobile Robot

作　　者：王奉晨 高宏力[1] 宋兴国 雷亚雄 WANG Feng-chen;GAO Hong-li;SONG Xing-guo;LEI Ya-xiong(School of Mechanical Engineering,Southwest Jiaotong University,Sichuan Chengdu610031,China)

机构地区：[1]西南交通大学机械工程学院,四川成都610031

出　　处：《机械设计与制造》2020年第5期253-256,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金资助项目(51605393);中央高校基本科研业务费专项资金资助(A0920502051723-9)。

摘　　要：设计制作了一种六轮独立驱动差速转向的全地形移动机器人,分析了六轮驱动和差速转向在全地形移动机器人应用上的优势。对移动机器人进行整体设计,建立了全地形六轮移动机器人平面差速转向的动力学模型,在研究动力学模型的基础上得到电机参数,选择合适的驱动电机和减速器。运用ADAMS虚拟样机对移动机器人的关键尺寸进行多目标优化,得到在一定约束条件下的最优设计尺寸。运用SolidWorks软件建立了三维模型,完成机器人的机械系统搭建和控制系统搭建。An all-terrain mobile robot with six-wheel-independent driving and skid steering is studied,and the advantages of six-wheel drive and skid steering in the application of all-terrain mobile robot are analyzed.The general design of the mobile robot is carried out,and the dynamic model of the six-wheel mobile robot’s skid steering is established,and the parameters of the motor are obtained based on the dynamic model,select the appropriate drive motor and reducer.The ADAMS software is used to optimize the key dimensions of the mobile robot,and the optimal design size under certain constraints is obtained.The3 D model is established by using the SolidWorks software,the construction and control system construction of the mechanical system of the robot are completed.

关 键 词：全地形六轮驱动转向动力学 ADAMS多目标优化 

分 类 号：TH16[机械工程—机械制造及自动化] TH12