仿生巡检机器人越障性能分析  

Analysis of obstacle performance of bionic inspection robot

作　　者：谢兵 苏卫华 祁宇明[1] 刘朝华[1] 张世月 XIE Bing;SU Wei-hua;QI Yu-ming;LIU Zhao-hua;ZHANG Shi-yue(Institute of Robotics and Intelligent Equipment,School of Mechanical Engineering,Tianjin University of Technology and Education,Tianjin 300222,China;Tianjin Artificial Intelligence Innovation Center(TAIIC),Tianjin 300457,China;National Innovation Institute of Defense Technology,Academy of Military Science of Chinese PLA,Beijing 100071,China)

机构地区：[1]天津职业技术师范大学机械工程学院机器人及智能装备研究院,天津300222 [2]天津(滨海)人工智能创新中心,天津300457 [3]军事科学院国防科技创新研究院,北京100071

出　　处：《医疗卫生装备》2020年第12期7-11,共5页Chinese Medical Equipment Journal

基　　金：天津市科技计划项目(18ZXJMTG00160);天津市企业科技特派员项目;天津职业技术师范大学研究生创新基金项目(YC19-12)。

摘　　要：目的:为解决仿生巡检机器人在城市救援环境下翻越管道时易发生的滑移与倾翻问题,对仿生巡检机器人的越障性能进行分析。方法:以仿生巡检机器人翻越管道过程中不发生滑移、倾翻为稳定条件,选择机器人翻越管道的4种位姿状态(前轮与管道最初接触阶段、机器人处于后轮支撑阶段、机体绕管道翻转临界阶段以及机器人着地阶段),根据静力学以及机器人运动机构几何约束建立仿生巡检机器人翻越管道能力的分析模型,并选择半径r=30 mm的管道进行越障理论仿真分析和实验探究。结果:通过分析模型得到机器人在典型阶段下的等效牵引力、等效摩擦力、等效支持力与机器人角度关系以及机器人各阶段稳定翻越的最大可行高度,确定了机器人稳定翻越r=30 mm管道的最大高度值H=120 mm。结论:基于仿生巡检机器人的越障性能分析为机器人翻越管道提供了可行的理论判断依据,对仿生巡检机器人翻越管道能力以及智能化程度的提高具有重要意义。Objective To analyze the obstacle performance of the bionic inspection robot in order to solve the problem of slippage and tipping when it climbs over pipes in urban environments.Methods Four posture states were selected for the robot to cross the pipe with the stability condition that the bionic inspection robot did not slip or tip over during the pipe crossing process,including initial contact between the front wheels and the pipe,the robot being supported by the rear wheels,the body being critical for rolling around the pipe and the robot landing stage.An analysis model of the bionic inspection robot's ability to cross the pipe was established based on static mechanics and the geometrical constraints of the robot's movement mechanism,and a 30 mm-radius pipe was selected for theoretical simulation and experimental investigation of obstacle crossing.Results The relationships between the equivalent traction force,the equivalent friction force,the equivalent support force and the angle of the robot in typical stages as well as the maximum feasible height for the robot to climb over the pipe with a selected radius were obtained with the analysis model,and the maximum height value(120 mm)for the robot to climb over the pipe with stability was determined.Conclusion The analysis of the obstacle performance of the bionic inspection robot provides a feasible theoretical basis for the robot to cross the pipe,which is of great significance for improving the ability of the robot to cross the pipe and enhancing its intelligence.

关 键 词：仿生巡检机器人 移动机器人 越障性能 翻越管道 位姿 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]