仿变形虫可重构履带机器人设计与避障性能分析  

Design and obstacle-avoidance performance analysis of amoeba-like reconfigurable tracked robot

作　　者：张明路[1] 刘宗厚 王经天 高强[1] 许志凡 曹刘猛 ZHANG Minglu;LIU Zonghou;WANG Jingtian;GAO Qiang;XU Zhifan;CAO Liumeng(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China)

机构地区：[1]河北工业大学机械工程学院,天津300401

出　　处：《工程设计学报》2025年第1期62-71,共10页Chinese Journal of Engineering Design

基　　金：国家重点研发计划资助项目(2022YFB4701101);国家自然科学基金资助项目(U1913211,52275016);中央引导地方科技发展资金项目(226Z1801G,226Z1811G);河北省自然科学基金资助项目(F2021202016);河北工业大学学科交叉方向研究生培养资助项目(HEBUT-Y-XKJC-2021108)。

摘　　要：针对现有移动机器人在复杂狭窄环境下通过性和灵活性不足的问题,受变形虫重组变形机理的启发,提出了一种模块化可重构履带机器人。模拟变形虫胞质颗粒的刚柔转换特性,融合俯仰关节与偏航关节,设计了基于闩锁结构的可锁定履带模块。将多个履带模块串联组成闭环单链以构成机器人的外部结构,在内部柔性机体的驱动下,履带链能够实现连续滚动。通过机体头部逐个调整前端履带模块的偏航关节角并锁定,同时机体尾部对后端履带模块依次解锁,机器人可在前进过程中主动改变自身几何形态。随后,基于关节角描述的相邻履带模块之间的位置关系,获得机器人的形态矩阵,并通过对关节角序列的迭代分析建立了机器人的运动学模型。最后,通过仿真分析了机器人的形态变化范围,以准确评估其运动灵活性,并通过制作机器人样机和开展一系列测试实验来验证其运动性能。实验结果表明,机器人的最小转弯半径为17.7cm,可通过连续改变偏航方向来实现在狭小约束空间中的灵活避障;配合俯仰关节的被动适应,机器人可穿越各类崎岖地形,由此验证了机器人的灵活性和通过性。研究结果可为移动机器人的仿生结构设计提供新思路。Aiming at the problems of insufficient passing ability and flexibility of existing mobile robots in complex and narrow environment,a modular reconfigurable tracked robot is proposed inspired by the recombination deformation mechanism of amoebas.By simulating the rigid-flexible transition characteristics of amoeba cytoplasmic particles,a lockable track module based on the latching structure was designed by fusing the pitch and yaw joints.Multiple track modules were connected in series to form a closed-loop single chain to form the external structure of the robot.Under the drive of the internal flexible body,the track chain could realize continuous rolling.By successively adjusting the yaw joint angle of front track modules and locking them by the body head,while unlocking the rear track modules in turn by the body tail,the robot could actively change its geometric morphology during the forward process.Then,based on the position relationship between adjacent track modules described by the joint angles,the morphological matrix of the robot was obtained,and the kinematics model of the robot was established by the iterative analysis of the joint angle sequence.Finally,the morphological variation range of the robot was simulated and analyzed to accurately evaluate its motion flexibility,and its motion performance was verified by making a robot prototype and carrying out a series of test experiments.The results showed that the minimum turning radius of the robot was 17.7 cm,and the robot could flexibly avoid obstacles in narrow confined space by continuously changing the yaw direction.With the passive adaptation of pitch joints,the robot could traverse all kinds of rough terrain,thus verifying the flexibility and passing ability of the robot.The research results can provide new ideas for the bionic structure design of mobile robots.

关 键 词：仿变形虫机器人 可重构履带 运动学建模 形态分析 灵活避障 

分 类 号：TH131[机械工程—机械制造及自动化] TP242.6[自动化与计算机技术—检测技术与自动化装置]