轮腿复合式结构机器人的机械系统设计与分析  

Mechanical System Design and Analysis of Wheel-Legged Compound Structure Robot

作　　者：梁虎 罗强 LIANG Hu;LUO Qiang(School of Mechanical Engineering,Chongqing Three Gorges University,Chongqing 404100,China)

机构地区：[1]重庆三峡学院机械工程学院,重庆404100

出　　处：《常熟理工学院学报》2022年第5期49-54,共6页Journal of Changshu Institute of Technology

基　　金：重庆市教委重点项目“柑桔智能化采摘技术及装备研究与应用”(KJZD-K201901202)。

摘　　要：本文设计了一种轮腿复合式结构机器人,通过4个轮子的独立转向驱动,实现机器人灵活转向和移动.轮腿结构单元可通过4个轮足的转动配合和不同组合实现不同形式的底盘结构功能.建立了轮腿复合式机器人的底盘构型;提出了该机器人基于阿克曼转向的两种转向方式.最后分析得出该机器人具有优越的越障性能和防侧翻性能.In this paper,a wheel-legged compound structure robot is designed to achieve the flexible steering and movement of the robot through the independent steering drive of four wheels.The wheel-footed structure unit can realize different forms of chassis configuration functions through the rotation cooperation and different combinations of the four wheel feet.The chassis configuration of the wheel-legged compound robot is established;two steering modes based on the Ackermann steering are proposed for the robot.Finally,the analysis concludes that the robot has superior obstacle-crossing performance and anti-rollover performance.

关 键 词：避障 轮腿复合 独立转向 底盘 越障 防侧倾 

分 类 号：TH122[机械工程—机械设计及理论]