六足侦察机器人结构设计及越障性能分析  

Structural design and obstacle-crossing performance analysis of hexapod reconnaissance robots

作　　者：徐浩洋 曹乐 张思河 XU Haoyang;CAO Le;ZHANG Sihe(School of Electronic and Electrical Engineering,Shanghai University of Engineering Science,Shanghai 201600,China)

机构地区：[1]上海工程技术大学电子电气工程学院,上海201600

出　　处：《机械传动》2025年第4期87-92,155,共7页Journal of Mechanical Transmission

基　　金：国家自然科学基金项目(61703270)。

摘　　要：【目的】为了提升无人侦察机器人在复杂地形环境下作业的通过能力及稳定性,设计了一种适用于非结构化环境下的六足侦察机器运动平台。【方法】首先,针对机器人高承载、高灵活性要求,提出灵活性与通过能力协同设计方法,结合蟑螂腿部构型,优化设计低惯量单腿结构,通过推导正-逆运动学方程,利用蒙特卡洛法分析机器人工作空间,并确定了腿部机构参数;其次,采用Ansys WorkBench软件对关键部件进行静力学分析,验证了结构设计的可靠性;最后,利用Matlab软件与Adams软件对机器人越障过程进行运动学仿真,设计并完成了工程样机试验。【结果】结果表明,该六足机器人能够实现复杂非结构化地形下的高稳定性运动。研究为进一步研究复杂地形下机器人的运动控制奠定了基础。[Objective] In order to improve the passing ability and stability of unmanned reconnaissance robots in complex terrain environments,a six-legged reconnaissance machine motion platform suitable for unstructured environments was designed.[Methods] In view of the high load-bearing and high flexibility requirements of the robot,a collaborative design method of flexibility and passing ability was proposed.Combined with the cockroach leg configuration,the low-inertia singleleg structure was optimized and analyzed by deriving the forward-inverse kinematics equation and using the Monte Carlo method,the robot workspace was analyzed,and the leg mechanism parameters were determined.Then,Ansys Workbench was used to perform static analysis on key components to verify the reliability of the structural design.Finally,Matlab and Adams software were used to conduct kinematic simulation of the robot's obstacle-crossing process,and the engineering prototype test was designed and completed.[Results] Test results show that the hexapod robot can achieve high-stability movement in complex unstructured terrain,laying the foundation for further research on motion control of robots in complex terrains.

关 键 词：无人侦察机器人 非结构化地形 高通过能力 静力学分析 运动学仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]