一种低驱动自由度高越障能力的轮腿式机器人设计  

Design of the wheel-legged robot with low-driven degree of freedom and strong obstacle-crossing ability

作　　者：丛佩超 冯新杰 刘俊杰 CONG Pei-chao;FENG Xin-jie;LIU Jun-jie(School of Mechanical and Automotive Engineering,Guangxi University of Science and Technology,Liuzhou 545616)

机构地区：[1]广西科技大学机械与汽车工程学院,广西柳州545616

出　　处：《机械设计》2021年第12期89-97,共9页Journal of Machine Design

基　　金：中央引导地方科技发展专项资金项目(桂科ZY19183003);广西重点研发计划项目(桂科AB20058001);广西科技基地和人才专项(桂科AD19110021)。

摘　　要：针对轮腿式移动机器人机构控制复杂及越障能力有限等问题,通过对六足轮腿式机器人行走规律进行分析,创新性地设计了一种空间多平行四边形的双自由度连杆机构,该机构有效地降低了行走机构所需的驱动电机数量,优化了轮腿式机器人的机构控制。面向不同的地形状况,对机器人各行走轮进行协同控制设计,构建出多种越障模式,以增强机器人的越障能力。对机器人各驱动轮进行特定布局设计,保证系统重心始终处于其"支撑六边形"的中间区域,有效抑制"重心瞬移"现象,以实现对机器人轮足轨迹的稳定性控制。最后,通过仿真分析,验证了文中设计的六足轮腿式机器人在提高越障稳定性及越障高度方面的有效性。In this article, aimed at the problems of complex control and limited obstacle-crossing ability of the wheel-legged mobile robot, efforts are made to explore the walking law of the hexapod wheel-legged robot, and a spatial multi-parallelogram double degree of freedom linkage mechanism is designed innovatively. It effectively reduces the number of driving motors required by the walking mechanism, and optimizes the mechanism control of the wheel-legged robot. For different terrain conditions, all the walking wheels of the robot are subject to collaborative control design, and a variety of obstacle-crossing modes are constructed to enhance the robot’s obstacle-crossing ability. The specific layout of the robot’s each driving wheel is designed to ensure that the gravity center of the system is always in the middle area of its “supporting hexagon”, and the “flicker of gravity center” can be effectively suppressed, so as to realize the stability control of the robot’s wheel-foot trajectory. Finally, the simulation results demonstrate that the hexapod wheel-legged robot helps to improve the stability of obstacle crossing and the height of obstacle crossing is desirable.

关 键 词：自由度 越障 轮腿式 六足机器人 爬楼梯 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]