具有被动摆臂的四履带机器人越障性能分析

Obstacle Performance Analysis of Four-track Robot with Compliant Swing Arms

针对主动摆臂形式的四履带机器人在越障过程中出现的摆臂控制复杂问题,采用简化机器人控制、增强机器人自适应能力的方法,通过引入柔性关节,在机器人机械本体上设计了一种被动摆臂机构,并从理论上对该被动摆臂式四履带机器人的越障能力进行了分析,用ADAMS软件对该机器人进行了运动学仿真.结果表明:当摆臂的下限摆角取φ1=-1.09rad时,机器人样机所能攀越的台阶高度为其极限越障高度(170.93mm),比同尺寸采用主动摆臂形式的四履带机器人提高了20mm,从而验证了该机构的可行性,为被动摆臂式四履带机器人的发展提供了基础.

It is difficult to control the swing arms to assist the four-track robot with active swing arms to cross the obstacles.By simplifying the control and enhancing the self-adaptive ability,a compliant swing arm institution was designed for the robot＇s structure using a flexible joint.The obstacle performance of the four-track robot with compliant swing arms was analyzed theoretically.The kinematic characteristics of the robot were simulated using an ADAMS.The results show that when the lower swing angle φ1=-1.09 rad,the robot could climb the ultimate obstacle height（170.93 mm）,which is higher than that using the four-track robot with active swing arms.The compliant swing arm structure was feasible,which provides a basis for the research of four-track robots with compliant swing arms.