轮腿可变式移动机器人的结构设计  

Structural Design of Wheel-Legged Variable Mobile Robot

作　　者：谢天 张守京[1] 丁冬冬 杨文彬 XIE Tian;ZHANG Shoujing;DING Dongdong;YANG Wenbin(School of Mechanical and Electrical Engineering,Xi′an Polytechnic University,Xi'an 710048,China)

机构地区：[1]西安工程大学机电工程学院,陕西西安710048

出　　处：《轻工机械》2023年第1期35-41,共7页Light Industry Machinery

基　　金：国家重点研发计划项目(2019YFB1707205)。

摘　　要：针对移动机器人在复杂多变环境下执行搜救侦察任务时机动性、越障性存在的不足,课题组提出了一种新型轮腿可变式移动机器人的设计方案。课题组通过对变径机构的设计使得机器人可以实现轮式和轮腿式2种工作模式的自如变换;采用修正的Kutzbach-Grubler公式对变径机构自由度进行了分析;利用速度瞬心法对移动机器人以轮式模式工作时进行运动学求解;利用拉格朗日法建立了移动机器人的动力学模型;最后通过ADAMS软件对移动机器人进行仿真实验分析。研究结果表明:该机器人整机结构设计合理,运动平稳,具有较强的机动性与地形适应性。该研究弥补了单一运动模式的机器人在地形适应能力上的不足。Aiming at the shortcomings of mobile robot′s mobility and obstacle surmount when performing search and reconnaissance tasks in complex and changeable environment, a new design scheme of wheel-legged variable mobile robot was proposed. Firstly, by designing the variable-diameter mechanism, the free transformation of wheel mode and wheel-legged mode was realized. Secondly, the modified Kutzbach-Grubler formula was used to analyze the degree of freedom of the variable-diameter mechanism. Then the kinematic analysis of the mobile robot working in wheel mode was elaborated by using the velocity instantaneous center method, the dynamics model of mobile robot was established by Lagrange method. Finally, ADAMS software was used to analyze the simulation experiment of mobile robot. The results show that the robot has reasonable structure design, smooth movement, strong maneuverability and terrain adaptability. This research makes up for the lack of terrain adaptability of single motion mode robot.

关 键 词：移动机器人 变径机构 轮腿可变式 Kutzbach-Grubler公式 速度瞬心法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH112[自动化与计算机技术—控制科学与工程]