四模块可变形机器人转向性能评价体系构建  

Construction of Steering Performance Evaluation System for Four Module Deformable Robot

作　　者：王相鑫 李延斌[1] 常健[2,3] 王聪 WANG Xiang-xin;LI Yan-bin;CHANG Jian;WANG Cong(Shenyang University of Technology College of Mechanical Engineering,Liaoning Shenyang 110870,China;Robot-ics Laboratory,Shenyang Institute of Automation,Chinese Academy of Science,Liaoning Shenyang 110016,China;Institute of Robotics and Intelligent Manufacturing Innovation,Chinese Academy of Sciences,Liaoning Shenyang 110000,China)

机构地区：[1]沈阳工业大学机械工程学院,辽宁沈阳110870 [2]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [3]中科院机器人与智能制造创新研究院,辽宁沈阳110000

出　　处：《机械设计与制造》2023年第11期204-209,共6页Machinery Design & Manufacture

基　　金：国家重点研发计划资助项目(2018YFB1304602)。

摘　　要：四模块可变形机器人具备多种构型与多种转向方式,种类繁杂的构型与运动方式导致分析工作较为复杂。针对因结构与运动复杂产生的巨大的工作量的问题,进行四模块变形机器人转向性能评价指标的相关研究使得在进行构型选择与运动分析时更具有针对性。通过运动学与动力学相关知识,结合机器人结构特点与运动原理,对四模块可变形机器人进行动力学建模,并以此为依据建立完整的四模块可变形机器人转向数学模型。通过分析四模块可变形机器人转向数学模型,确定机器人在进行转向运动时的性能评价指标,进而建立完整的转向性能评价体系。通过理论与实验相对比,对转向数学模型中的各性能指标进行验证确认其实用性及有效性。The four-module deformable robot has a variety of configurations and a variety of steering modes,and the various configurations and motion modes make the analysis work more complicated.In view of the huge workload caused by the complex structure and movement,the relevant research on the evaluation index of the four-module deformable robot's steering performance makes the configuration selection and movement analysis more pertinent.Through the knowledge of kinematics and dynamics,combined with the characteristics of robot structure and motion principle,the dynamics modeling of four-module deformable robot,and based on this to establish a complete four-module deformable robot steering mathematical model.By analyzing the mathematical model of steering of a four-module deformable robot,we determine the performance evaluation index of the robot when it performs steering motion,and then establish a complete steering performance evaluation system.The practicality and validity of each performance index in the steering mathematical model are verified by comparing theory with experiment.

关 键 词：履带 构型 可变形机器人 转向 评价 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]