纯滚动轮式移动机器人设计及运动控制研究  

Research on Design and Motion Control of Pure Rolling Wheel Mobile Robots

作　　者：王鹏 聂建军[1] 解晓琳 鄢鸿桢 Wang Peng;Nie Jianjun;Xie Xiaolin;Yan Hongzhen(School of Mechatronics Engineering,Zhongyuan University of Technology,Zhengzhou 450007,China;College of Agricultural Equipment Engineering,Henan University of Science and Technology,Luoyang 471000,China)

机构地区：[1]中原工学院机电学院,河南郑州450007 [2]河南科技大学农业装备工程学院,河南洛阳471000

出　　处：《机械传动》2022年第8期85-92,共8页Journal of Mechanical Transmission

基　　金：国家自然科学基金青年基金(51905154)。

摘　　要：针对轮式移动机器人转向行驶过程中的侧滑问题,设计了一种纯滚动转向系统,以避免因车轮侧滑而导致的轮胎磨损。依据该纯滚动转向系统,开发了双动力差速驱动桥,建立了特殊的阿克曼转向、蟹型运动和原地转向等3种运动模式,并对3种模式进行了运动学特性分析。采用的H型平衡悬架结构,能够根据路面起伏进行自适应调整,提高移动机器人的越障能力;通过搭建实验平台测试了该结构的可行性。最后,基于建立的转向运动控制策略和运动学模型,利用反演法思想,推导出轨迹跟踪控制律,并通过Simuink仿真验证了该控制律的有效性。Aiming at the side slip problem of the wheeled mobile robot in the steering process,a pure roll⁃ing steering system is designed to avoid tire wear caused by wheel side slip.Based on this pure rolling steering system,a dual-power differential drive axle is developed,three special motion modes including ackerman steering,crab motion and in-situ steering are established,and the kinematic characteristics of the three modes are analyzed.The adopted H-type balance suspension structure can be adjusted adaptively according to the un⁃dulations of the road surface,which improves the mobile robot's ability to overcome obstacles.The feasibility of the structure is tested by setting up an experimental platform.Finally,based on the established steering motion control strategy and the kinematics model,and using the inversion method,the trajectory tracking control law is derived,and the effectiveness of the control law is verified by Simuink simulation.

关 键 词：纯滚动 双动力驱动桥 全方位移动 轨迹跟踪 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]