关节式双履带移动机器人越障稳定性分析  

Stability Analysis of Obstacle-crossing for Articulated Dual-track Mobile Robot

作　　者：宗成国 刘纪新[1] 于岩[2] 徐丕兵[3] ZONG Cheng-guo;LIU Ji-xin;YU Yan;XU Pi-bing(Qingdao Huanghai University,College of Intelligent Manufacturing,Qingdao 266427,China;College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao 266510,China;College of Rail Transit,Qingdao Technicians College,Qingdao 266229,China)

机构地区：[1]青岛黄海学院智能制造学院,青岛266427 [2]山东科技大学机械电子工程学院,青岛266510 [3]青岛市技师学院轨道交通学院,青岛266229

出　　处：《科学技术与工程》2020年第10期4004-4008,共5页Science Technology and Engineering

基　　金：山东省博士后创新项目专项资金(201702038);山东省重点研发计划(GG201703200116);青岛黄海学院博士基金资助。

摘　　要：通过对外部环境的复杂情况及各类影响因素的观测与分析,设计了一种基于非结构环境的关节式双履带移动机器人,该机器人平台由前、后两壳体组成,两壳体由旋转关节相连接,调节式活动装置和履带压紧机构的设计保证了机器人的越障稳定性。在此基础上,以攀越二维崎岖地形、正斜坡地形以及楼梯等三种典型地形为例,对机器人的越障稳定性进行分析和仿真。最后经过实验验证关节式双履带移动机器人的结构设计的合理性和理论分析的正确性。Based on the observation and analysis of complex external environment and various influencing factors,an articulated dual-track mobile robot was designed based on unstructured environment.The robot platform consists of front and rear shells,and they are connected to rotating joints,adjustable movable devices,and crawler tightening system.Therefore,the obstacle-crossing stability of the robot was secured.Taking climbing two-dimensional rugged terrain,normal slope terrain,and staircase as examples,the obstacle-crossing stability of the robot was simulated and analyzed.Finally,the rationality of the structure design and the correctness of the theoretical analysis of the articulated dual-track mobile robot were verified in experiment.

关 键 词：关节式双履带移动机器人 履带压紧机构 履带可变角度 越障稳定性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]