| 李 松 ， 朱建柳 ， 金晓怡 ， 黄立新.可变形履带式机器人行走机构设计及运动仿真[J].轻工机械,2018,36(1):29-34 |
| 可变形履带式机器人行走机构设计及运动仿真 |
| Design and Kinematic Simulation of Travel Mechanism for Reconfigurable Tracked Robot |
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| DOI：10.3969/j.issn.1005 2895.2018.01.007 |
| 中文关键词: 可变形履带式机器人 行走机构 越障性能 虚拟样机 |
| 英文关键词:reconfigurable tracked robot travel mechanism obstacle surmounting performance virtual prototyping |
| 基金项目: |
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| 中文摘要: |
| 针对移动机器人在非结构化地形环境中负载能力低、运动稳定性较差的问题，设计了一种可变形履带式机器人行走机构。该机器人采用4节履带构型，有效地增加了与地面的接触面积，从而提高了其运动稳定性。将椭圆形成原理应用于履带张紧机构的设计当中，采用双椭圆摆臂回转机构，设计可变形履带机器人模型。为了描绘机器人的越障性能，从运动学的角度分析了机器人在爬越台阶和跨越沟壑2种典型障碍的运动过程，并得出相应的越障极限参数。利用Adams建立仿真模型，对机器人的虚拟样机进行了动力学分析。仿真分析表明机器人能够翻越200 mm高的台阶和300 mm宽的障碍，并得出驱动机器人运动的力矩曲线图。本研究为后续改进及优化研究提供了参考。 |
| 英文摘要: |
| Aiming at the problem of low load capacity and poor movement stability of mobile robot in unstructured terrain environment, a travel mechanism for reconfigurable tracked robot was designed. The robot applied the configuration with four tracks, which increased the contact area with the ground effectively and improved the movement stability. By applying the ellipse forming principle to the mechanism design of the crawler tension device, and adopting swing arm mechanism with two ellipses, the model of reconfigurable tracked robot was designed. For describing obstacle surmounting performance of robot, the processes of climbing stair and crossing gully were analyzed from the viewpoint of kinematics, and obtaining the corresponding obstacle surmounting limit parameters. By applying Adams the simulation model was built, and the dynamics of the virtual prototyping for robot was analyzed. The results show that the robot succeeded in surmounting 200 mm high stair and 300 mm wide gully, and obtained the torque curve which could drive the motion for robot, which provides an effective method for the following study of improvement and optimization. |
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