一种新型可变形轮腿式机器人的设计与分析  

Design and Analysis of a Novel Deformable Wheel-legged Robot

作　　者：刘超[1,2] 谭稀岑[1,2] 姚燕安 付志洋[1,2] LIU Chao;TAN Xicen;YAO Yanan;FU Zhiyang(School of Mechanical and Electronic Control Engineering,Beijing Jiaotong University,Beijing 100044;Key Laboratory of Vehicle Advanced Manufacturing,Measuring and Control Technology(Beijing Jiaotong University),Ministry of Education,Beijing 100044)

机构地区：[1]北京交通大学机械与电子控制工程学院,北京100044 [2]载运工具先进制造与测控技术教育部重点实验室(北京交通大学),北京100044

出　　处：《机械工程学报》2022年第3期65-74,共10页Journal of Mechanical Engineering

基　　金：中央高校基本科研业务费专项资金(2019JBM046)资助项目。

摘　　要：提出一种新型可变形轮腿式地面移动机器人,采用相同动力源实现轮式和腿式两种移动模式。将Chebyshev机构与平行四边形机构结合,提出了具有两种单自由度运动形式的单环闭链2RP3R变胞机构,进行了构型设计和运动学分析。将2个单环闭链变胞机构构造成轮腿式移动模块,进而构建一种可变形轮腿式机器人。机器人具有256种运动形式,这些运动形式均采用相同的动力源,实现多足切换,通过不同高度的空间,在曲柄与机架共线时进行移动模式切换,实现倾倒后恢复。然后,分析了机器人的移动性能,得到腿式模式下的平均越障能力和两种模式下的平均速度比。建立虚拟样机模型,完成了机器人平地行走、越障、转向和模式切换仿真试验。研制一台样机,进行了两种模式下的移动试验,验证了机器人方案的可行性。A novel deformable wheel-legged ground mobile robot is proposed,which moves in wheeled and legged modes by the same power.Firstly,a single-loop closed-chain 2RP3R metamorphic mechanism is proposed by combining Chebyshev mechanism with parallelogram mechanism,which realizes two single-freedom motion forms.The configuration design and kinematics analysis are carried out.Secondly,a novel deformable wheel-legged robot is constructed by wheel-legged mobile modules which are composed of two single-loop closed-chain metamorphic mechanisms.The robot has 256 motion forms which are achieved through the same power.It can switch between multi-legged states and cross through the space at different heights.The mode-switching is carried out when the crank is collinear with the rack so that the recovery from overturning is achieved.Thirdly,the mobility of the robot is analyzed,and the average obstacle-crossing ability in the legged mode and the average speed ratio in the two modes are obtained.Lastly,the virtual prototyping model is established and the simulations of level-moving,obstacle-crossing,steering and mode-switching are completed.A prototype is fabricated,and the feasibility of the idea is verified by carrying out moving experiments in the two modes.

关 键 词：可变形 轮腿式机器人 单环闭链机构 变胞机构 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]