Self-lock Characteristics of the Continuous Alternate Wheel and the Mobile Robot
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摘要: 介绍了连续切换轮及其移动机器人的自锁特性．首先，分析了连续切换轮的结构．单独轮子在锁死情况下的摩擦主要分为轮子径向方向的滑动摩擦以及轴向方向的滚动摩擦、 轴承摩擦等，设计了实验来测量这些摩擦力的大小．然后，基于测得的摩擦力，介绍了连续切换轮的自锁特性，实验可得在白纸和毛毯上分别有0～15°和0～18°的自锁区．最后，建立了移动机器人在斜面上自锁时的受力数学模型，并设计了车体在不同介质（白纸、毛毯）斜面上的自锁特性实验．实验结果表明：当车体坐标系与斜面坐标系成45°时，自锁角度最小，在白纸和毛毯上分别为19.7°和16.4°； 当车体坐标系与斜面坐标系成0°时，自锁角度最大，在白纸和毛毯上分别为30.3°和25.5°．Abstract: Self-lock characteristics of the continuous alternate wheel and the mobile robot are described. The structure of the continuous alternate wheel is analyzed firstly. The friction of a locked wheel can be divided into sliding friction in radial direction as well as rolling friction and bearing friction in axial direction, which are measured by experiment. Then, self-lock characteristics of the continuous alternate wheel are introduced based on the frictions measured above. The self-lock areas of the wheel on paper and on carpet are 0～ 15° and 0～ 18° by experiments. At last, a mathematical force model of a self-locked robot on a slope is developed, and some experiments about the robot self-lock characteristics on the slope of different materials, i.e. paper and carpet, are carried out. The experiment results indicate that the smallest self-lock angles of the robot on paper and on carpet are 19.7° and 16.4° respectively when the angle between the robot coordinate and slope coordinate is 45°. Meanwhile, the biggest self-lock angles of the robot on paper and on carpet are 30.3° and 25.5° respectively when the angle between the robot coordinate and slope coordinate is 0.
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Keywords:
- friction model /
- self-lock characteristic /
- mobile robot
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