基于变胞机构的移动机器人构型设计研究综述  

Review of Configurational Design of Mobile Robot Based on Metamorphic Mechanism

作　　者：张磊[1] 王延杰[1,2] 唐刚强 赵鑫 赵世界 骆敏舟 ZHANG Lei;WANG Yanjie;TANG Gangqiang;ZHAO Xing;ZHAO Shijie;LUO Minzhou(College of Mechanical and Electrical Engineering,Hohai University,Changzhou 213022,China;Jiangsu Key Laboratory of Special Robotics Technology,Changzhou 213022,China)

机构地区：[1]河海大学机电工程学院,江苏常州213022 [2]江苏省特种机器人技术重点实验室,江苏常州213022

出　　处：《信息与控制》2022年第1期12-22,共11页Information and Control

基　　金：国家重点研发计划“智能机器人”重点专项(2020YFB1312900);国家自然科学基金(51975184);中央高校业务费项目(B210202124);中央高校基本科研业务费专项(B210203045)。

摘　　要：基于传统机构设计的移动机器人,由于机构运动关系相对固定、配置形式单一,难以在复杂地形中快速通行。变胞机构是一种全新的机构组合形式,在瞬时能使某些构件发生合并和分离,使机构有效构件数或自由度数发生变化,具有较强的环境适应性。变胞机构设计的移动机器人可以将速度、灵活性和稳定性集于一体,实现移动机器人在复杂环境中的快速移动。本文针对变胞机构及其移动机器人的构型设计、运动原理、驱动方式及空间配置进行了综述,归纳了现有基于变胞机构的移动机器人所面临的关键问题和技术进展,并对变胞机器人的未来发展方向进行了展望,为变胞移动机器人的发展提供参考。The mobile robot based on the traditional mechanism is difficult to travel quickly in complex terrain because of the relatively fixed motion relationship and the single configuration.As a new type of mechanism,metamorphic mechanism has the ability of merging and seperating some components merge and separate instantaneously,change the number of effective components or the degree of freedom of the mechanism,and has strong adaptability to the environment.The mobile intergrating will further improve the speed,flexibility and stability in complex environment.We review the motion principle,driving mode and spatial configuration of metamorphic mechanism and its mobile robot configuration design are reviewed,summarize the key problems and technological progress of mobile robots based on metamorphic mechanism,and prospect the development direction for the future,which provide important references for the development of metamorphic mobile robots.

关 键 词：变胞机构 移动机器人 构型设计 运动特性 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]