带辅助轮摆臂的履带式机器人越障能力分析  

Analysis of obstacle-crossing ability of swing arm tracked robot with auxiliary wheels

作　　者：安治国[1] 周志鸿 AN Zhiguo;ZHOU Zhihong(School of Mechatronics and Vehicle Engineering,Chongqing Jiaotong University,Chongqing 400074,China)

机构地区：[1]重庆交通大学机电与车辆工程学院,重庆400074

出　　处：《山东科技大学学报（自然科学版）》2024年第2期121-132,共12页Journal of Shandong University of Science and Technology(Natural Science)

基　　金：重庆市科委项目(cstc2019jcyj-msxmX 0761);重庆市研究生导师团队建设项目(JDDSTD2019007)。

摘　　要：履带式移动机器人因具有良好的环境适应性被广泛应用于军事和安全领域。为了改善现有摆臂履带式机器人结构复杂、重量和体积较大等不足,进一步提高其越障能力,提出一种带辅助轮摆臂的履带式移动机器人,设计该机器人的几何模型,分析其越障机理,推导摆臂的正逆运动学方程,分别建立有/无滑移条件下机器人的运动学模型。采用柔性体有限段模型法建立履带的多体动力学仿真模型。通过履带滑转率、机器人主体质心高度,履带与地面接触力及摆轮受力的变化,综合分析该机器人越障时的动力性能。在越阶、爬坡和越沟壑不同工况下,提出的带辅助轮摆臂的履带式机器人表现出良好的越障性能。Tracked mobile robots are widely used in military and security fields because of their good environmental adaptability.To overcome the shortcomings of complex structure,huge weight and large volume of traditional swing arm tracked robots and improve their obstacle-crossing ability,this paper proposed a swing arm tracked mobile robot with auxiliary wheels.The geometric model of the robot was first designed to analyze the obstacle-crossing mechanism of the robot and deduce the forward and inverse kinematic equations that applied to the swing arm.The kinematic models of the robot under the conditions of non-slip and slip were established respectively.A multi-body dynamic simulation model of the track was then established by using the finite body segment model for the flexible body.The dynamic performance of the robot was finally analyzed comprehensively through the variations in the track slip rate,the height of the centroid,the track contact force with ground and the swing wheel force.The proposed swing arm tracked mobile robot with wheels shows good obstacle-crossing performance under step-climbing,hill-climbing and gap-crossing conditions.

关 键 词：摆臂 履带式移动机器人 柔性体 有限段模型 多体动力学 越障能力 

分 类 号：TH113.2[机械工程—机械设计及理论]