摘要
研究了一种六足矿井搜救探测机器人的越障动力学问题。首先分析了机器人翻越垂直障碍的过程,进而构建了越障过程中不同步态时的动力学模型。该模型可以确定机器人所需的驱动力矩与几何尺寸、运动参数、障碍高度及摩擦因数之间的关系。通过不同步态的动力学分析,确定了机器人在越障过程中驱动力矩变化趋势。此结果为矿井搜救探测机器人在未知环境下越障步态的选择及优化提供了理论基础和依据。
The obstacle negotiation dynamics of hexapod robot with half-circle legs was studied. Firstly, the process of ver- tical obstacle negotiation was analyzed, and then dynamic models of the different stages of obstacle negotiation process were es- tablished. The relationships between the torque of driving robot and geometry, motion parameters, barrier height and the coeffi- cient of friction were determined in these models. Through kinetic analysis of different stages of obstacle negotiation, the limit state of the torque of driving robot was determined, and the various factors on the impact of the required driving torque were analyzed. This result would provide a theoretical basis and foundation to improve half-cirele legged robot adaptability to an un- known environment.
出处
《机械设计》
CSCD
北大核心
2016年第2期100-104,共5页
Journal of Machine Design
关键词
矿井搜救探测
六足机器人
半圆形柔性腿
越障
动力学建模
mine rescue detection
hexapod robot
half-circle compliant leg
obstacle negotiation
dynamics modeling
