轮腿式自动引导小车结构设计与行走步态规划  

Structural Design and Walking Gait Planning of Wheel-legged AGV

作　　者：张楠[1] 姜文通 牛宝山 尹阔 梅林 ZHANG Nan;JIANG Wentong;NIU Baoshan;YIN Kuo;MEI Lin(School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004,Hebei,China;Electronic Laboratory Center,School of Electrical Engineering,Yanshan University,Qinhuangdao 066004,Hebei,China)

机构地区：[1]燕山大学机械工程学院,河北秦皇岛066004 [2]燕山大学电气工程学院电子实验中心,河北秦皇岛066004

出　　处：《机械科学与技术》2021年第2期211-217,共7页Mechanical Science and Technology for Aerospace Engineering

基　　金：对发展中国家科技援助项目(KY201501009);河北省重点研发计划项目(19211820D)。

摘　　要：为了提高自动引导小车在存有障碍物的硬质平坦地面上的工作能力,设计了一种新型的轮腿式自动引导小车,并阐述了小车在不同运动模式下的工作原理。对行走模式下的小车进行了运动学分析,得到足端工作空间。以足端的最大工作范围为前提规划了足端的运动轨迹,同时规划了车体的运动轨迹,并基于静态稳定裕度原理规划了小车整体的行走步态。利用ADAMS软件对该小车进行运动仿真分析,仿真结果表明所规划运动轨迹和行走步态是可行的。In order to improve the working ability of the automated guided vehicle(AGV)on the hard and flat ground with obstacles,a new type of wheel-legged AGV is designed,and the working principle of the AGV in different motion modes is explained.The kinematics analysis of the AGV in walking mode is carried out,and the working space of its foot is obtained.The motion trajectory of the foot is planned based on the maximum working range of the foot.At the same time,the trajectory of the car body is planned,and the overall walking gait of the AGV is planned based on the static stability margin principle.The motion simulation analysis of the AGV is carried out with the ADAMS.The simulation results show that the motion trajectory and walking gait planned by the scheme are feasible.

关 键 词：自动引导小车 轮腿式 运动学分析 行走步态 运动轨迹 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]