一种多模式轮腿移动机器人的设计与分析  

Design and Analysis of a Multimodal Wheel-Legged Mobile Robot

作　　者：李晋馥[1] 于泽 连宾宾[1] Li Jinfu;Yu Ze;Lian Binbin(Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education,Tianjin University,Tianjin 300350,China)

机构地区：[1]天津大学机构理论与装备设计教育部重点实验室,天津300350

出　　处：《天津大学学报（自然科学与工程技术版）》2025年第1期12-23,共12页Journal of Tianjin University：Science and Technology

基　　金：国家自然科学基金资助项目(52275028)。

摘　　要：移动机器人作为智能勘探与侦察的自动化装备,在航天探测、抢险救灾等领域具有广阔的应用前景.轮腿式移动机器人因具有良好的机动性与越障能力而受到青睐.然而现有轮腿式移动机器人机身大多不可变形,导致机器人运动模式较少,地形适应性一般.且机身易与障碍物发生碰撞,无法在具备良好的爬坡能力的同时保证跨越障碍物的效率.针对上述问题,本文提出了一种采用多连杆可变形机构作为机身的轮腿式移动机器人.在设计机器人轮腿及可变形机身的基础上,建立机器人整体运动学模型,据此规划机器人3种运动模式:同步步态、翻滚步态和蜷曲-伸展步态.开展机器人在典型地形(平坦地面、松软地形、上升坡度、下降坡度、障碍物)下的运动性能分析,揭示机器人结构参数与地形特征(爬坡角度、障碍物高度)映射关系.最后基于理论分析结果搭建物理样机并开展实验.实验结果表明,本文所设计的多模式轮腿移动机器人的最大爬坡角度和越障高度分别为44°和28 mm,具有良好的爬坡能力与越障性能.此外,得益于多模式运动特点,机器人在包含平坦地面及松软地形在内的多地形下均具有良好的通过性,验证了机器人方案的可行性.本文为多模式轮腿运动机器人的设计与应用提供有益参考.Mobile robots,which are essential tools for intelligent exploration and reconnaissance,have incredible potential applications in areas such as space exploration and disaster relief.Their maneuverability and obstaclecrossing capabilities make them highly favored.However,most existing wheel-legged mobile robots lack deformability,limiting their motion modes and reducing average terrain adaptability.Moreover,these robots often face challenges like collisions with obstacles,making it difficult to balance climbing capcity and obstacle-crossing per-formance.To address these issues,this paper proposed a wheel-legged mobile robot equipped with a multibar linkage deformable mechanism for its body.The innovative design of the robot’s legs and deformable body formed the basis for establishing an overall kinematic model.Three distinct motion modes were developed:synchronous gait,rolling gait,and coiling-extension gait.The robot’s motion performance was analyzed across various terrains(flat ground,soft terrain,ascending slop,decending slope,and obstacle)to reveal the mapping relationship between the robot’s structural parameters and terrain features,such as climbing angle and obstacle height.Finally,a physical prototype was built,and experiments were conducted based on the theoretical analysis.The experimental results demonstrate that the designed multimodal wheel-legged mobile robot has a maximum climbing angle of 44°and can overcome obstacles up to 28 mm in height.These findings highlight the robot’s excellent climbing capcity and obstacle-crossing performance.Furthermore,owing to its multimodal motion characteristics,the robot exhibits good traversability on various terrains,including flat ground and soft terrain.This effectively validates the feasibility of the robot design.This paper provides valuable references for the design and application of multimodal wheel-legged mobile robots.

关 键 词：多模式移动机器人 轮腿式移动机器人 运动学建模 实验研究 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]