新型变形轮腿式移动机器人的运动学分析及设计  

Kinematic Analysis and Design of a Novel Transformable Wheeled-Legged Mobile Robot

作　　者：宋轶民[1,2] 郝呈晔 岳维亮 孙涛 连宾宾[1] 杨志岳[1] Song Yimin;Hao Chengye;Yue Weiliang;Sun Tao;Lian Binbin;Yang Zhiyue(Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education,Tianjin University,Tianjin 300354,China;Department of Mechanical Engineering,Tianjin Renai College,Tianjin 301636,China;Tianjin Creative Robot Technology Co.,Ltd.,Tianjin 300300,China)

机构地区：[1]天津大学机构理论与装备设计教育部重点实验室,天津300354 [2]天津仁爱学院机械工程系,天津301636 [3]天津创智机器人科技有限公司,天津300300

出　　处：《天津大学学报（自然科学与工程技术版）》2022年第2期111-121,共11页Journal of Tianjin University：Science and Technology

基　　金：天津市重点研发计划科技支撑重点资助项目(18YFZCSF00590).

摘　　要：移动机器人作为智能勘探与侦察的自动化装备,在航天探测、军事侦察、抢险救灾等领域具有广阔的应用前景.兼具良好的机动性及越障性是移动机器人快速适应非结构化复杂环境的首要性能指标,结合轮式行进机构强机动性与腿式行进机构优越障性的变形轮腿式移动机器人受到普遍青睐.然而,现有变形轮腿式移动机器人在设计与优化方面仍存在变形形式过于复杂、设计方法缺乏理论依据等不足.针对上述问题,提出一种结构紧凑、操作简便的新型轮腿变换结构,借助电磁离合器分离运动的原理,通过改变轮-腿变形动力输入促使轮与腿相对运动,以曲柄滑块机构触发轮-腿结构径向扩展,完成由轮式变形为腿式的过程.定义变形过程中曲柄滑块机构的压力角为机动性指标、变形前后结构的展开比为越障性指标,进而开展变形结构的尺度综合,优化结果表明新型变形轮腿式移动机器人的展开比为1.92,可越过高度为150 mm的障碍物.基于优化后的尺度参数,建立变形轮腿式移动机器人越障过程的动力学模型,确定驱动电机参数,设计并制造物理样机.最终开展软件仿真与实验研究,仿真结果与理论分析结果一致,表明优化设计方法与动力学建模方法的有效性,实验结果证明所设计的变形轮腿式机器人具有较强的机动性与越障性.Mobile robots as automatic instruments for intelligent exploration and reconnaissance have broad application prospects in space exploration,military reconnaissance,emergency rescue,and disaster relief.Good mobility and over-obstacle capacity are the primary performance indices for mobile robots to quickly adapt to unstructured and complex environments.Transformable wheeled-legged mobile robots are popular because they combine the strong mobility of wheel mechanism and the superior obstacle-overcoming capacity of leg mechanism.However,there are still some deficiencies in the design and optimization of the existing transformable wheeled-legged mobile robots,such as the too-complex deformation process and the lack of theoretical basis in the design methods.To solve the above problems,we propose a novel transformable wheeled-legged structure with compact structure and simple operation.Based on the principle of electromagnetic clutch separation motion,we changed the wheeled-legged deformation power input to promote the relative motion between wheel and leg and used the crank slider mechanism to trigger the radial expansion of the wheeled-legged structure to complete the process of wheel-mode deformation into leg mode.We defined the pressure angle of the crank slider mechanism in the deformation process as the mobility in-dex and the expansion ratio of the structure before and after deformation as the obstacle-surmounting index,and per-formed the dimensional synthesis of the deformation mechanism.The optimization results show that the expansion ratio of the neotype transformable wheeled-legged mobile robot is 1.92 and the over-obstacle height is 150mm.Based on this,we established a dynamic model of the over-obstacle process,determined the driving motor parameters,and designed the physical prototype.Finally,we performed software simulation and experimental research.The simulation results were consistent with the theoretical analysis results,indicating the effectiveness of the optimization design method and dynamics mode

关 键 词：移动机器人 变形轮腿结构 尺度综合 运动学分析 动力学建模 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]