小型轮履腿复合式机器人设计及运动特性分析

DESIGN AND MOTION ANALYSIS OF MINIATURE WHEEL-TRACK-LEGGED MOBILE ROBOT

针对在室内外环境下对小型移动机器人的运动要求,综合轮式、履带式和腿式运动机构的优点,研制开发了一种多运动模式的小型轮履腿复合式移动机器人。该机器人可以进行轮式高速运动、履带或腿式越障等多种模式的运动。对其运动特性、越障性能、自动复位功能进行了详细的分析。采用的嵌入式控制系统保证了机器人功耗低、可靠性好、实时性高的控制要求。试验表明,这种移动机器人运动灵活,具有很好的环境适应性和较高的越障能力。

Aiming at the moving requests of the miniature mobile robot under the environment of indoors and outdoors, a miniature track-wheel-legged mobile robot With multiple moving modes such as wheeled, tracked and legged locomotion is presented. The moving characters, obstacle negotiation capability and self-reposition function of the robot are analyzed indetails. The embedded control system is adopted to ensure the robot to be with low power consuming, good reliability and high real-time character. The experiment results show that the mobile robot has high mobility, good environmental adaptabil- ity and obstacle negotiation ability.