轮式移动机器人平面运动学建模与分析  

Planar kinematics modeling and analysis of wheeled mobile robots

作　　者：魏毅龙 程志红[3] WEI Yilong;CHENG Zhihong(China Coal Technology&Engineering Group Clean Energy Co.,Ltd.,Beijing 100013,China;State Key Laboratory of Coal Mining and Clean Utilization,Beijing 100013,China;School of Mechanical and Electrical Engineering,China University of Mining and Technology,Xuzhou 221116,China)

机构地区：[1]中煤科工清洁能源股份有限公司,北京100013 [2]煤炭资源高效开采与洁净利用国家重点实验室,北京100013 [3]中国矿业大学机电工程学院,徐州221116

出　　处：《机械传动》2025年第2期29-38,共10页Journal of Mechanical Transmission

基　　金：国家重点研发计划(YFB2018303)。

摘　　要：【目的】基于轮式移动机构平面运动学求解的基本假设,研究轮式移动机器人的平面运动学问题。【方法】首先,分析了在平面固定曲线上做纯滚动刚体的运动学求解方法,得出刚体纯滚动过程中与曲线接触点的弧坐标变化率的表达式;结合车轮在地面上纯滚动的情况,准确地求出车轮与地面接触点坐标与时间的函数关系,作为表示车轮与地形曲线相互作用的驱动函数。其次,用法向轮径偏移法推导轮心与接触点的坐标关系,使轮心轨迹方程得以确定。再次,以移动机器人6轮导杆联动式悬架为例,将导杆联动式悬架分成后轮腿和摇臂前轮腿两部分求解,列出机构约束方程;结合驱动函数与轮心轨迹方程,用Matlab非线性方程组求解算法在积分定义递推循环中对移动机器人运动学方程进行求解,完成参数的后处理。最后,用Adams软件对理论模型进行了仿真校验。【结果】结果表明,以驱动轮驱动函数、机构约束方程及轮心轨迹方程组成的轮式移动机器人平面运动学模型建模及求解过程准确,能够获取机器人各构件的运动信息。[Objective]Based on the basic assumption of solving the planar kinematics of wheeled mobile mechanisms,the planar kinematics problem of wheeled mobile robots was studied.[Methods]Firstly,the kinematic solution method for a rigid body pure rolling on a fixed plane curve was analyzed,and the time differentiate expression of arc-coordinate of the contact point which the rigid body pure rolling on the curve during the process was obtained;combined the expression with the example of actuated wheel pure-rolling on the terrain,the coordinate of the contact point was obtained as the drive function which represented the interaction between the actuated wheel and the terrain.Secondly,the coordinate relation between wheel-terrain contact point and wheel center was derived through the normal direction wheel radius deviation method,making the wheel center trajectory equation ascertain.Thirdly,the derivation was specialized to six-wheel guide-bar-linkage suspension;to illustrate the development method,the solving process was divided into two parts:the rear wheel leg and the rocker arm front wheel leg;the constraints equations of mobility mechanism,drive function of actuated wheel and wheel center trajectory of passive wheel were combined to form the composite equations of the wheeled mobile robot motion.The kinematic equations of mobile robots were solved by using the Matlab nonlinear equation solving algorithm in an integral definition recursive loop,and completed post-processing of parameters.Finally,Adams software was used to simulate and verify the theoretical model.[Results]The results show that the modeling and solving process of the planar kinematics model of the wheeled mobile robot composed of the driving wheel driving function,mechanism constraint equation,and wheel center trajectory equation is accurate,and can obtain the motion information of each component of the robot.This method can be summarized as a universal approach for modeling and solving the planar kinematics of wheeled mobile robots.

关 键 词：移动机器人 悬架 移动机构 运动学建模 纯滚动 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]