摘要
为突破传统单一结构移动机器人在越障能力、运动稳定性等方面的限制,提出一种结合轮式与腿式结构特点、兼具轮式与腿式性能优势的轮腿复合式移动机器人。结合机器人的实际应用场景,以越障能力和运动稳定性为目标,设计了一种新型轮腿结构,规划了机器人的运动步态,分析了轮腿的运动规律并建立了机器人在不同步态下的运动学模型。最后通过软件仿真验证了理论分析结果的可行性和有效性。
In this article, in order to break through the limitations of the traditional single-structure mobile robot in terms of obstacle-crossing capability and motion stability, a new wheel-legged hybrid mobile robot which combines the characteristics of wheel and leg structures and integrates the advantages of wheel and leg is proposed. With the application environment of the robot taken into consideration, a new wheel-legged structure is designed with the objectives of obstacle-crossing capability and motion stability. The motion gaits of the robot are planned and the kinematic model with different gaits is set up. Finally, some software is adopted to conduct simulation on the theoretical results, and it’s verified that they are feasible and valid.
作者
姜楠
杨志岳
孙涛
JIANG Nan;YANG Zhi-yue;SUN Tao(Tianjin Fire Research Institute of MEM,Tianjin 300381;Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education,Tianjin University,Tianjin 300072)
出处
《机械设计》
CSCD
北大核心
2022年第6期79-85,共7页
Journal of Machine Design
基金
公益性科研院所基本科研业务费项目(2019SJ03)。
关键词
移动机器人
轮腿式
步态
越障能力
运动学
仿真分析
mobile robot
wheel-legged
gait
obstacle-crossing capability
kinematics
simulation analysis
