轮-履复合可变形机器人的移动机构参数分析

Parametric Analysis for Mobile Mechanism of a Transformable Wheel-track Robot

针对非结构环境地形特点,结合轮式、履带式移动机构在复杂地形环境中的运动特点,设计了一种适应于非结构环境的轮-履互换、履带几何形状可变化的复合型移动机器人。该轮-履复合型移动机器人的机构系统由一个控制箱体和两个相同的轮-履复合移动单元模块组成。每个轮-履复合移动单元模块由运动轮和几何形状可变的履带轮构成,在一个驱动力的作用下根据不同的约束环境而表现为轮式和履带式两种运动特征,同时此单元模块具有轮-履互换、履带几何形状可变等特点。运用理论推导、参数优化等方法对轮-履复合移动单元模块的机构参数进行了分析综合,并经仿真分析验证了机构参数选择的合理性,为轮-履复合、履带可变形移动机器人的机构参数化设计提供了理论依据。

According to the terrain features of irregular environment,we proposed a novel mobile mechanism of the transformable wheel-track robot（TWTR）.The TWTR could adapt autonomously to the irregular environment by transforming the track configuration or by changing the locomotion mode between track mode and wheel mode.The TWTR mechanism consisted of a control system unit and two symmetric transformable wheel-track units.As the mobile mechanism of TWTR,the wheel-track unit was composed of a transformable track mechanism and a drive wheel mechanism.The drive system of the wheel-track unit provided two outputs in different form only by one servo motor,or rather enables the wheel-track unit to have the abilities to transform the configuration of the track and to make the robot move by wheel or by track.We designed the parameters of track mechanism by parametric optimization based on genetic algorithm,and designed the parameters of the drive wheel mechanism according to the configuration features of the wheel-track unit.The validity of the parameters was demonstrated by simulation on the robot transforming the track configuration and changing the locomotion mode.