一种可变径轮腿式越障机器人的设计与研究  

Design and Research of A Variable-diameter Wheel-legged Obstacle Overcoming Robot

作　　者：丁冬冬 张守京[1,2] DING Dongdong;ZHANG Shoujing(School of Mechanical and Electrical Engineering,Xi'an Polytechnic University,Xi'an 710048,China;Xi'an Key Laboratory of Modern Intelligent Textile Equipment,Xi'an 710600,China)

机构地区：[1]西安工程大学机电工程学院,西安710048 [2]西安市现代智能纺织装备重点实验室,西安710600

出　　处：《机械科学与技术》2023年第6期850-856,共7页Mechanical Science and Technology for Aerospace Engineering

基　　金：西安市现代智能纺织装备重点实验室项目(2019220614SYS021CG043)。

摘　　要：针对地面移动机器人在非结构化地形中越障存在的局限性,提出一种基于平面齿轮连杆杆组的可变径轮腿式越障机器人的设计方案。首先对越障机器人的变径机构在轮式和轮腿式两种模式之间的变换原理进行了介绍。当遇到障碍物时,变径机构可依据障碍物的高度来变换模式从而进行越障运动。在此基础上通过计算其变形比以及运动学分析仿真,验证了该变径机构设计的合理性、较强的越障能力和模式变换时的可靠性和稳定性。其次通过构建力学模型来分析两种模式下机器人的越障能力,得出其在不同模式下的极限越障高度。最后,基于ADAMS软件对机器人在单台阶、连续台阶以及复杂路面时的越障能力进行运动仿真。结果表明该越障机器人在面对不同工况时都具有较好的越障能力,验证了设计方案的可行性。Aiming at the limitations of ground-based mobile robots in unstructured terrain,a design scheme of variable-diameter wheel-legged obstacle-climbing robots based on plane gear connecting rod group is proposed in this paper.Firstly,the transformation principle of the obstacle-climbing robot between wheel mode and wheel-leg mode through variable-diameter mechanism was introduced.When encountering obstacles,the variable-diameter mechanism can change the mode according to the height of the obstacles to perform obstacle crossing movement.On this basis,through deformation ratio calculationand kinematics simulation,the rationality of the design of the variable-diameter mechanism,its strong obstacle-climbing ability,and the reliability and stability of the mode change are verified.Secondly,by constructing a mechanical model to analyze the obstacle-climbing ability of the robot in the two modes,and the maximum obstacle-climbing height in different modes are obtained.Finally,based on ADAMS software,the robot's ability to obstacle-climbing on single steps,continuous steps and complex roads is simulated.The results show that the obstacle-climbing robot has better obstacle-climbing ability when facing different working conditions,which verifies the feasibility of the design scheme.

关 键 词：变径机构 轮腿式 越障机器人 ADAMS 

分 类 号：TH242[机械工程—机械制造及自动化]