轮履型可重构机器人变形机理与设计研究  

Study on Deformation Mechanism and Design of Wheel-tracked Reconfigurable Robots

作　　者：刘进福 刘磊 蒋正炎 徐林森 刘志鹏 吕志朋 李泽林 Liu Jinfu;Liu Lei;Jiang Zhengyan;Xu Linsen;Liu Zhipeng;LüZhipeng;Li Zelin(School of Intelligent Control,Changzhou Institute of Industry Technology,Changzhou 213164,China;School of Engineering Sciences,University of Science and Technology of China,Hefei 230026,China;School of Mechanical and Electrical Engineering,Hohai University,Changzhou 213022,China)

机构地区：[1]常州工业职业技术学院智能控制学院,江苏常州213164 [2]中国科学技术大学工程科学学院,安徽合肥230026 [3]河海大学机电工程学院,江苏常州213022

出　　处：《机械传动》2022年第7期17-23,共7页Journal of Mechanical Transmission

基　　金：江苏省高等学校自然科学基金面上项目(21KJB160006、19KJD470001);常州市重点研发计划应用基础研究项目(CJ20210040);常州市人才托举工程项目。

摘　　要：面向多种复杂路面执行任务的需求,基于生物学变胞机理,提出了一种轮履型可重构机器人。该机器人包括两种运动模式,即车轮模式与履带模式,通过两种模式之间的切换可显著提高机器人的多地面适应性。开展了轮-履模式切换机理与传动原理研究,分析了地面接触宽度变化规律,得到了履带模式下的最大接触宽度为230.36 mm;分别计算了机器人在车轮和履带模式下的越障能力,通过仿真软件分析了机器人重心位置在越障时的变化趋势;最后,集成动力系统研制了机器人样机,以不同高度的木板和空心砖作为试验台对机器人进行了模式切换、越障性能分组测试。结果表明,车轮、履带模式下最大越障高度分别为98.5 mm和290 mm,与理论推导结果一致。此外,机器人能够在轮式与履带模式之间柔顺切换,具有多种复杂路面适应能力。Aiming at the application requirements on a variety of complex roads and based on the biologi⁃cal metamorphosis mechanism,a wheel-tracked reconfigurable robot is proposed.The robot includes two motion modes,namely wheel mode and crawler mode.By switching between the two modes,the adaptability of the robot on multiple ground features can be significantly improved.The study of switching mechanism and transmission principle is carried out.The changing trend of the contact width is analyzed to obtain a maximum value of 230.36 mm in crawler mode.The robot's ability to overcome obstacles in wheel and crawler modes is calculated separately,and the trend of the robot's center of gravity position during obstacle-crossing is analyzed through simulation software.Finally,a prototype of the robot is developed by integrating the power system.Wooden boards and hollow bricks with different heights as experimental platforms are used to test the robot's mode switch and obstacle crossing ability in groups.The experimental results show the maximum obstacle crossing heights in wheel and crawler modes are 98.5 mm and 290 mm which are consistent with the theoretical value.In addition,the robot can flexibly switch between wheel mode and crawler modes,which has the ability to adapt to a variety of complex roads.

关 键 词：轮履可重构机器人 切换机理 接触宽度 越障能力 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]