摘要
针对非结构化环境对小型移动机器人的运动要求,设计了一种具有多驱动模式的轮腿式机器人。该机器人采用对称结构,由车体和4个结构尺寸完全相同的独立运动单元构成。研究了机器人系统的总体结构,阐述了其机构设计及实现。分析了其通过台阶、凸台、壕沟、斜面及楼梯等障碍时的运动特性及可包容的地形。研究了机器人具有的转向模式。研制完成的样机具有结构简单、易维护、运动灵活的特点,具有很好的环境适应性。
Aiming at the motion requirements of miniature mobile robot on unstructured environment,a wheel-legged robot with multi-drive modes has been developed.The reconfigurable robot adopts the symmetrical structure,composed of a body and four independent movement units with identical structural dimension.The whole structure of the robotic system was studied,and both its mechanism design and realization were described.The analysis on motion characteristics and subsumed terrain of the robot when traversing through steps,heaves,entrenchments,slope and staircases were put forward.The steering modes available with the robot were studied.The preproduction model is characterized with simple structure,easy maintenance,high mobility,as well as much better environmental adaptability.
出处
《机械设计》
CSCD
北大核心
2010年第6期42-47,共6页
Journal of Machine Design
基金
西北工业大学研究生创业种子基金资助项目(Z200816)
关键词
移动机器人
非结构化环境
运动特性
包容地形
mobile robot
unstructured environment
motion characteristics
subsumed terrain
