模块化欠驱动行星履带机器人设计  

Design of Modular Underactuated Planetary Crawler Robot

作　　者：陈广庆[1] 沈灵斌 Chen Guangqing;Shen Lingbin(College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao 266590,China)

机构地区：[1]山东科技大学机械电子工程学院,山东青岛266590

出　　处：《煤矿机械》2020年第8期1-3,共3页Coal Mine Machinery

摘　　要：提出一种模块化履带机器人,通过欠驱动履带设计以提高机器人在复杂地形的移动能力。该机器人通过对模块化履带的快速拆装改变履带形式,机器人履带模块有单行星履带、双行星履带、三行星履带3种履带形式,可针对不同路况选择合适履带形式。模块化履带有履带式、摇臂腿式、异形轮式3种移动模式,在不同地形下自适应切换。对不同高度障碍下的机器人越障过程进行分析,并通过仿真软件建模验证理论分析。理论分析与仿真实验结果表明:该机器人通过对履带模块的快速拆装可以变换不同履带形式,多模式切换显著提高机器人越障能力和地面适应能力。A modular crawler robot was proposed to improve the robot′s ability to move on complex terrain by underactuated crawler design.The robot can change the crawler form by quickly disassembling and assembling the modular crawler.The crawler module of the robot has three forms:single planet crawler,double planet crawler and three planet crawler,the appropriate crawler form can be selected according to different road conditions.Modular crawler has three moving modes:crawler type,rocker leg type and special-shaped wheel type,which can switch adaptively in different terrain.Under different height of obstacle,the robot obstacle crossing process were analyzed and theoretical analysis was verified by simulation software modeling.The theoretical analysis and simulation experimental results show that the robot can switch different form of crawlers by quickly disassembling and assembling the crawler module,and the multi-mode switching can significantly improve the robot′s obstacle crossing ability and ground adaptability.

关 键 词：履带式机器人 自适应 模块化 欠驱动 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]