变胞工程机器人设计及其稳定性探究  

Design and stability exploration of cellular engineering robots

作　　者：李军[1] Li Jun(Department of Continuing Education and Training,Yantai Vocational College,Shandong Yantai,264670,China)

机构地区：[1]烟台职业学院继续教育与培训部,山东烟台264670

出　　处：《机械设计与制造工程》2024年第6期67-71,共5页Machine Design and Manufacturing Engineering

摘　　要：为使变胞工程机器人能够应对更复杂的地形,研究通过轮腿式和滑槽式魔方机构增大机器内部空间,实现躯干各层转动和子块位置互换的功能,从而设计了一种新型的变胞工程机器人。结果表明:变胞工程机器人改进后的滑槽式结构加工难度降低,子块不易脱离。该机器人构型的前后转动层由电机驱动,在越障时左右转动层可以自适应旋转。当其最小稳定角为25.69°、重心高度为56.45 mm时,运动的稳定性最好,不易发生倾翻。此外,机器人采用的三足步态可以保持快速移动,并具有较小的位移偏移量。新型的变胞工程机器人具有较高的稳定性,在地域探险中具有较高的应用价值。In order to enable cellular engineering robots to cope with more complex terrains,a new type of cellular engineering robot is designed by increasing the internal space of the machine through wheel leg and sliding groove Rubik's cube mechanisms,which achieves the functions of rotation of each layer of the trunk and exchanging the positions of sub blocks.The results show that the processing difficulty of the improved sliding groove structure of the cellular engineering robot is reduced,and the sub blocks are not easily detached.The front and rear rotation layers of this robot configuration are driven by motors,and the left and right rotation layers can adaptively rotate during obstacle crossing.When its minimum stable angle is 25.69°and the center of gravity height is 56.45 mm,the stability of the motion is the best and it is less prone to tipping.In addition,the robot adopts a tripod gait that can maintain rapid movement and has a small displacement offset.The research and design of cellular engineering robots have high stability and high application value in regional exploration.

关 键 词：变胞工程机器人 稳定性 稳定锥法 滑槽式 轮腿移动 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]