自适应可变形轮腿式移动机构  

Self-adaptive Deformable Wheel-legged Mobile Mechanism

作　　者：张娜 沈灵斌 李晔卓[3] 荀致远[3] 王丹 姚燕安[3] Zhang Na;Shen Lingbin;Li Yezhuo;Xun Zhiyuan;Wang Dan;Yao Yan′an(Automotive Engineering School,Beijing Polytechnic,Beijing 100176,China;College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Shandong Qingdao 271019,China;School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing 100044,China;Space Star Technology Co.,Ltd.,Beijing 100095,China)

机构地区：[1]北京电子科技职业学院汽车工程学院,北京100176 [2]山东科技大学机械电子工程学院,山东青岛271019 [3]北京交通大学机械与电子控制学院,北京100044 [4]航天恒星科技有限公司,北京100095

出　　处：《机械科学与技术》2020年第11期1705-1712,共8页Mechanical Science and Technology for Aerospace Engineering

基　　金：装备预研教育部联合基金项目(6141A02022621);北京电子科技职业学院校内重点课题项目(YZK2015023)资助。

摘　　要：提出一种可自适应切换移动模式的轮腿式移动机构,通过欠驱动切换设计以提高移动机构在复杂地形的移动能力。该移动机构无需驱动单元即可在类轮模式和轮腿模式之间进行模式切换,减小了变形驱动模块的复杂度以及机构的整体质量。该机构在平坦路面上机构以类轮模式行走,遇到障碍时旋转车身可切换成轮腿模式通过。对该机构在两种运动模式下直行、转弯、越障等过程进行理论分析并建立动力学仿真模型,得到并验证机构转弯半径函数及最大越障高度等。制作一台理论样机验证其可行性。理论分析与实验结果表明,该机构具有传统轮式机构行驶稳定性以及腿式机构高越障性,且自适应切换可显著提高其地面通过能力。This paper presents a wheel-legged mobile mechanism which can switch motion modes with self-adaption.The under-actuated switching design improves the ability of the mobile mechanism to cross complex terrains.The mobile mechanism can switch between wheel mode and wheel-leg mode without actuators,which reduces the complexity of the switching mechanism and its overall quality.The mobile mechanism executes its wheel mode on a flat road,and when encountering obstacles,the rotating body can be switched to wheel-leg mode.The motions in two modes such as straight-line moving and direction switching,obstacle crossing and other processes are analyzed theoretically.Dynamic simulation models are established to obtain and verify the mobile mechanism′s turning radius function and maximum obstacle-crossing height.A prototype was made to verify its feasibility.Theoretical analysis and simulation results show that,the mobile mechanism has the travel stability of the traditional wheeled mechanism and the high obstacle-crossing property of a legged mechanism.The adaptive switching can significantly improve the obstacle-crossing ability of the mobile mechanism.

关 键 词：轮腿式移动机构 自适应 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]