轮腿可变搜救机器人轮腿综合与仿真分析  

Synthesis and simulation analyses on transformable wheel-legged search and rescue robot

作　　者：赵欣然 苏卫华 张世月 ZHAO Xin-ran;SU Wei-hua;ZHANG Shi-yue(National Innovation Institute of Defense Technology,Academy of Military Science of Chinese PLA,Beijing 100071,China;Tianjin Artificial Intelligence Innovation Center(TAIIC),Tianjin 300457,China)

机构地区：[1]军事科学院国防科技创新研究院,北京100071 [2]天津(滨海)人工智能创新中心,天津300457

出　　处：《医疗卫生装备》2020年第6期15-20,共6页Chinese Medical Equipment Journal

基　　金：国家自然科学基金重大研究计划项目(91948303-4);天津市科技计划项目(18ZXJMTG00160,19ZXJRG X00080)。

摘　　要：目的:针对搜救环境下复杂多变的地形环境,设计一种机动性高、越障能力强的轮腿可变搜救机器人。方法:先完成搜救机器人整机概念设计,再综合运用图形几何学方法对可变形车轮进行参数求解与运动学分析,并设计出以电磁离合器为主体的位形变换机构;通过重心投影法建立机器人力学模型,分析机器人静态稳定问题并计算最大越障高度;使用ADAMS软件对机器人模式切换与越障过程进行仿真验证。结果:实验结果表明,轮腿可变搜救机器人能够顺利完成轮式结构与弧腿结构间的自由切换,并且顺利通过多级台阶。结论:轮腿可变搜救机器人在复杂地形下具有良好的运动能力,未来结合多样化救援装备,可代替搜救人员进入危险复杂的区域执行搜救任务,提升突发事件应急处理能力与工作效率。Objective To design a type of transformable wheel-legged robot with high mobility and obstacle crossing ability to meet the requirements for the search and rescue in complex conditions.Methods The conceptual design was executed firstly for the search and rescue robot,and graphic geometry was used for the analyses on the parameters and kinematics of the transformable wheels,and a configuration transformation mechanism was designed with the electromagnetic clutch as the main body;the mechanical model was constructed with the center of gravity projection method to analyze the robot static stability and calculate the maximum obstacle crossing height;ADAMS software was used for simulation verification of mode conversion and obstacle crossing.Results The experimental results showed that the wheel-legged robot could transform the wheel mechanism into the legged mechanism freely and crossed multi stairs.Conclusion The wheel-legged robot functions well in complex conditions,and can be used for search and rescue in complicated areas when combined with multi rescue devices to enhance responses to emergency events.

关 键 词：搜救机器人 轮式机器人 弧腿式机器人 可变形车轮 越障 ADAMS仿真 

分 类 号：R318[医药卫生—生物医学工程] TP242.3[医药卫生—基础医学]