田润, 宋轶民, 孙涛, 向旭. 一种新型轮腿式移动机器人的参数设计与实验研究[J]. 机器人, 2015, 37(5): 538-545. DOI: 10.13973/j.cnki.robot.2015.0538
引用本文: 田润, 宋轶民, 孙涛, 向旭. 一种新型轮腿式移动机器人的参数设计与实验研究[J]. 机器人, 2015, 37(5): 538-545. DOI: 10.13973/j.cnki.robot.2015.0538
TIAN Run, SONG Yimin, SUN Tao, XIANG Xu. Parameter Design and Experiment of a Novel Wheel-legged Mobile Robot[J]. ROBOT, 2015, 37(5): 538-545. DOI: 10.13973/j.cnki.robot.2015.0538
Citation: TIAN Run, SONG Yimin, SUN Tao, XIANG Xu. Parameter Design and Experiment of a Novel Wheel-legged Mobile Robot[J]. ROBOT, 2015, 37(5): 538-545. DOI: 10.13973/j.cnki.robot.2015.0538

一种新型轮腿式移动机器人的参数设计与实验研究

Parameter Design and Experiment of a Novel Wheel-legged Mobile Robot

  • 摘要: 面向复杂未知环境探索作业对移动机器人的重大重要需求,借鉴 3 轮辐型轮腿越障能力强和弧形轮腿缓冲减振好的优势,提出一种新型轮腿式移动机器人.以攀爬楼梯为越障任务和设计目标,从静力学角度分析机器人轮腿与楼梯台阶不产生滑移的条件,得出机器人可跨越楼梯台阶的必要条件.从几何学角度规划一种机器人高效攀爬楼梯的轨迹,据此完成机器人轮腿结构的参数设计,并研究轮腿结构参数对机器人抗冲击能力和续航能力的影响规律.最后,通过软件仿真和爬楼梯实验验证上述工作的可行性和有效性.

     

    Abstract: In order to meet the requirements of exploration operations in complex and unknown environments for mobile robots, a novel wheel-legged mobile robot is proposed by utilizing the high over-obstacle capacity of three-spoke wheel-leg mechanisms and the good damping capacity of arc-shaped wheel-leg mechanisms.Taking stairs-climbing as the over-obstacle task and design objective, the non-slip condition between the robot wheel-leg and the stairs is analyzed from the perspective of statics, and then the necessary condition of the novel robot climbing the stairs is obtained.A trajectory for climbing stairs efficiently is designed from the perspective of geometry, and then the parameters of the robot wheel-leg are obtained before investigating the influence of the wheel-leg parameters on the impact resistance and endurance abilities.Finally, the software simulation and stairs-climbing experiment are carried out to verify the validity of the presented research.

     

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