摘要
为实现轮式移动机器人灵活运动的同时提升其环境适应能力,本文提出一种移动底盘结构,采用双功率差速系统实现不同模式动力的分配;采用特殊结构完成四轮独立转向,使底盘转向更加轻松,并实现了转向过程的纯滚动;采用平衡摇臂调整机构来调整底盘摆臂与本体的运动,利用摆臂转动来实现对起伏路面的自适应,加强了底盘的越障能力;分析了移动底盘原理,据此设计对应控制策略,在此基础上加入偏差耦合控制模块,提高多电机转向时的同步协调性能,利用MATLAB仿真验证了控制模块所起到的作用,并对实验样机及控制系统进行了搭建与测试。测试结果表明,本文所提出的结构原理正确可行,底盘越障能力较强,在野外环境也有很强的适应能力。
In order to achieve the flexible movement of wheeled mobile robot and improve its environmental adaptability, a new mobile chassis structure is proposed in this paper. The dual power differential system is used to accomplish power distribution under different modes. A special structure is used to complete the four-wheel independent steering, which makes the chassis steering easier and realizes the pure rolling in the steering process. The balance rocker arm adjusting mechanism is used to adjust the movement of the chassis swing arms and the body, and self-adaptive to the undulating road surface is realized with the rotation of swing arms, so as to enhance the ability of the chassis to surmount obstacles. The work principle of the mobile chassis is analyzed, and the corresponding control strategy is designed. On this basis, the deviation coupling control module is added to improve the synchronous coordination performance of multi motor steering. The effect of the control module is verified by MATLAB simulation, and the experimental prototype and control system are built and tested. The test results show that the mobile chassis structure principle proposed in this paper is correct and feasible, the chassis has strong obstacle crossing ability and strong adaptability in the field environment.
作者
芮宏斌
张森
闫修鹏
解晓琳
黄川
曹伟
李路路
RUI Hongbin;ZHANG Sen;YAN Xiupeng;XIE Xiaolin;HUANG Chuan;CAO Wei;LI Lulu(School of Mechanical and Precision Instrument Engineering,Xi'an University of Technology,Xi'an 710048,China;School of Mechatronics Engineering,Zhongyuan University of Technology,Zhengzhou 451191,China;College of Agricultural Equipment Engineering,Henan University of Science and Technology,Luoyang 471000,He'nan,China;School of Transportation Science and Engineering,Beihang University,Beijing 100191,China)
出处
《机械科学与技术》
CSCD
北大核心
2022年第9期1352-1361,共10页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金青年科学基金项目(51905154)
陕西省技术创新引导专项(2018ZKC-160)。
关键词
移动底盘结构
纯滚动
双功率
同步协调
偏差耦合
mobile chassis structure
pure rolling
dual power
synchronous coordination
deviation coupling
