轮腿可变式移动机器人越障研究  

Research on Obstacle Overcoming of Mobile Robot with Variable Wheels and Legs

作　　者：孟广耀 王哲 孙英暖 王维信 MENG Guang-yao;WANG Zhe;SUN Ying-nuan;WANG Wei-xin(School of Mechanical and Automotive Engineering,Qingdao Technological University,Qingdao Shandong 266520,China)

机构地区：[1]青岛理工大学机械与汽车工程学院,山东青岛266520

出　　处：《计算机仿真》2023年第3期460-466,共7页Computer Simulation

基　　金：国家自然基金项目(51175276)。

摘　　要：针对传统轮式和腿式移动机器人对复杂的地形环境适应能力不足的问题,设计了一种基于齿轮副结构的轮腿可变式移动机器人。应用SolidWork建模软件对机器人行进机构和总体装配方案进行设计;通过对机器人运动环境和越障过程受力分析,优化机器人翻越连续台阶过程;应用ADAMS软件对机器人越障过程进行仿真分析并搭建物理样机对仿真结果进行验证。试验结果表明,所设计的机器人能够高效翻越障碍地形,证明上述设计的可行性和仿真的正确性。Aiming at the problem of insufficient adaptability of traditional wheeled and legged mobile robots to complex terrain environments,a variable wheel-legged mobile robot based on a gear pair structure was designed.SolidWork modeling sofware was used to design the robot's traveling mechanism and overall assembly plan.Through the force analysis of the robot's motion environment and obstacle course,the robot's continuous step process was optimized.ADAMS software was used to simulate the robot's obstacle course and build the physics.The prototype verified the simulation results.The test results show that the robot designed in this paper can efficiently climb over obstacles,which proves the feasibility of the design in this paper and the correctness of the simulation.

关 键 词：移动机器人 轮腿可变式 越障 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]