摘要
针对移动机器人在狭窄空间、人员密集场景下灵活工作的需要,提出了一种内置差速器的轮系底盘结构,并基于该结构设计了一款具有零转弯半径能力的轮式机器人底盘。利用矢量法建立轮系的运动方程,分析轮系着地轮滚动摩擦扭矩变化规律,建立轮系底盘的运动学模型与状态空间方程,求解电机转角与轮系转角的响应曲线。建立动力学模型验证了机器人移动的稳定性与零转弯抗侧向纵倾性,并研制了一台实物样机,通过实际环境实验进行结构可行性验证。
Aiming at the need of mobile robots to work flexibly in narrow spaces and densely populated scenes,a wheel system chassis structure with a built-in differential was proposed,and a wheeled robot chassis with zero turning radius capability was designed based on this structure.The vector method was used to establish the motion equation of the gear train,analyzing the change law of the rolling friction torque of the wheel train on the ground,and then to establish the kinematic model and state space equation of the gear train chassis,solving the response curve of the motor and gear train rotation angle.A dynamic model was established to verify the stability of the robot’s movement and the zero-turning resistance to lateral trim.A physical prototype was developed and the structural feasibility was verified through actual environmental experiments.
作者
高磊
秦建军
黄梦雨
刘兴杰
GAO Lei;QIN Jianjun;HUANG Mengyu;LIU Xingjie(School of Mechanical-Electronic and Vehicle Engineering, Beijing University of Civil Engineering and Architecture, Beijing 100044, China;Beijing Key Laboratory of Performance Guarantee on Urban Rail Transit Vehicles, Beijing 100044, China;China North Vehicle Research Institute, Beijing 100072, China)
出处
《中国科技论文》
CAS
北大核心
2021年第8期911-918,共8页
China Sciencepaper
基金
国家自然科学基金资助项目(91748211)。
