一种被动展开球形机器人的设计分析与实现  

Design Analysis and Implementation of a Passive Expansion Spherical Robot

作　　者：邵派 秦建军 曹钰 刘兴杰 陈浩楠 Shao Pai;Qin Jianjun;Cao Yu;Liu Xingjie;Chen Haonan(School of Mechanical-electronic and Automobile Engineering,Beijing University of Civil Engineering and Architecture,Beijing 100044,China;Beijing Engineering Research Center of Monitoring for Construction Safety,Beijing 100044,China;Zhongbing Intelligent Innovation Institute,Beijing 100070,China;Intelligent Mobile Robot(Zhongshan)Research Institute,Guangdong 528437,China)

机构地区：[1]北京建筑大学机电与车辆工程学院,北京100044 [2]北京市建筑安全监测工程技术研究中心,北京100044 [3]中兵智能创新研究院,北京100070 [4]智能移动机器人(中山)研究院,广东中山528437

出　　处：《机械传动》2024年第2期75-82,共8页Journal of Mechanical Transmission

基　　金：北京市属高校基本科研业务费专项资金(X20060);北京建筑大学研究生创新项目(PG2022131);北京市建筑安全监测工程技术研究中心研究基金项目(BJC2020K012);中山市科技计划项目(200826203730754)。

摘　　要：为了提升球形机器人在狭小空间、复杂地形、颠簸路面等不同场景下的机动性与越障性能,使用被动展开单自由度机构扩大展开半径来提升越障性能,通过引入齿轮齿条直线展开机构,设计了一种结构紧凑、多种运动模式的球形机器人。建立数学模型,对球形机器人机构进行运动学和动力学分析;通过对球形机器人Adams仿真建模,得出滚动、越障时的仿真结果,与理论值对比分析,验证了运动学、动力学分析的正确性;在此基础上制作实物样机,进一步验证了该机构的可行性,证明该机构具有较强的机动性与越障能力。A linear deployable gear and rack mechanism is introduced.In order to improve the maneuver⁃ability and obstacle-crossing performance of the spherical robot in different scenarios such as narrow space,complex terrain and bumpy road,a passive expanded single-degree of freedom mechanism is used to expand the expanded radius to improve the obstacle-crossing performance.A linear expanded rack-and-pinion mechanism is introduced to design a spherical robot with compact structure and multiple motion modes.Mathematical mod⁃els are established to perform kinematic and dynamic analysis of spherical robot mechanisms,the simulation re⁃sults of rolling and obstacle crossing are compared with the theoretical values to verify the correctness of kine⁃matics and dynamics.On this basis,the prototype is made to further verify the feasibility of the mechanism,and verify that the mechanism has strong mobility and obstacle crossing ability.

关 键 词：球形机器人 越障性能 动力学分析 被动展开 ADAMS软件 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]