可变形轮腿式机器人行走机构设计与研究  

Design and Study of Walking Mechanism of Deformable Wheel-legged Robot

作　　者：翟建华[1] 吴福晓 魏晓华[1] 罗海东 Zhai Jianhua;Wu Fuxiao;Wei Xiaohua;Luo Haidong(School of Mechanical Engineering,Liaoning Technical University,Fuxin 123000,China)

机构地区：[1]辽宁工程技术大学机械工程学院,辽宁阜新123000

出　　处：《机械传动》2021年第1期157-161,共5页Journal of Mechanical Transmission

基　　金：辽宁省高等学校国(境)外培养项目(2018LNGXGJWPYZD001)

摘　　要：针对当前轮腿式越障机器人的局限性,设计了一种新型的车轮可变结构机器人,该机器人可以在轮腿之间自如切换。介绍了可变结构车轮的工作原理,该机构在平坦地面上运动以轮子模式行走,当遇到障碍物切换为类花瓣模式越过障碍。对车轮在两种模式下的直行与转弯过程进行理论分析,建立了运动学仿真模型,并对模型进行求解。为了验证分析结果,采用Adams软件对车轮的越障过程与复杂路面行走进行了运动仿真。仿真结果表明,设计的车轮结构可行性较高,具有轮式机构的稳定性,同时具有腿式机构较高的越障能力,使机器人可以适应多种复杂的路况环境。Aiming at the boundedness of wheel-legged type obstacle robot,a novel deformable wheel for wheel-legged obstacle crossing robot is designed to make the robot to switch between wheels and legs.The working principle of the wheel with variable structure is introduced.The mechanism executes wheeled mode on the flat road,and walks in wheel mode when encountering obstacles,it switches to a petals-type mode to cross obstacles.The process of straight-line moving,direction switching of the wheel in two modes is analyzed theoretically,and the kinematics simulation model is established.The kinematic simulation for the deploy progress is carried out in Adams to verify the theoretical analysis result.The simulation results show that the designed wheel structure possessed high capacity of obstacle climbing of the leg mechanism and stability of wheel mechanism,so the robot can adapt to a variety of complex road conditions.

关 键 词：轮腿式 越障机器人 可变形车轮 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]