轮腿式机器人越障动力学建模与影响因素分析

Dynamic Modeling for Obstacle Negotiation of Wheel-Legged Robot and Analysis on Its Influential Factors

研究了一种具有多种驱动模式的轮腿式机器人的越障动力学问题.首先描述了机器人爬越垂直障碍的过程,进而构建了越障过程的动力学模型.该模型可以体现各电机输出转矩之间的关系以及运动状态、重心分布等影响因素.通过对整个过程的分析,确定了驱动系统中两种电机输出力矩的极限状态,并分析各因素对其最大输出力矩的影响,最后给出了机器人最大越障高度的计算方法.上述结果可为提高机器人的复杂环境适应能力提供理论依据.

The dynamic analysis of a wheel-legged robot with multiple drive modes is studied.Firstly,the vertical obstacle negotiation process is described,then the dynamic model for the process is built.The torque distribution between all motors,the influential factors of movement states and gravity allocation are included in the model.By means of the investigation of the whole process,the utmost states of two kinds of motors＇ torque in the driving system are ascertained.The influences of different factors on the maximal output torques are analyzed and the method to work out the maximal height that the robot can rove through is brought forward finally.The result will provide a theoretical foundation to improve the robot＇s adaptability in complicated environments.