八轮腿移动机器人平台越障性能研究

Research on eight-wheel-legged robot platform obstacle crossing

针对复杂地形环境,提出了一种八轮腿移动机器人平台,轮腿式移动机器人综合了轮式移动机器人高速、高效、灵活的特点和腿式移动机器人较强的越障能力.本文首先计算了该机器人平台的质心位置,并对移动机器人的稳定性判据进行了分析,在此基础上,针对斜坡、台阶和沟槽等不同类型障碍,就其越障能力与摩擦系数、结构尺寸之间的关系进行了分析,研究了该机器人移动平台越障性能,并求出了其在跨越台阶和沟槽时前后轮腿系统之间的转角关系,分析移动机器人平台姿态调整策略和越障策略.为机器人控制系统的设计做好了理论基础.

For the complex terrain environment,an eight-wheel-legged robot platform is proposed.The wheel-legged robot integrates the wheel robots advantages,such as high-speed,being efficientand flexible etc.The center of mass of the robot＇s platform is calculated,and the stability criterion of the robot is analyzed.According to slopes,steps and grooves different obstacles types,the relationship between the robot＇s obstacle capacity,the coefficient of friction and structure parameters of this robot is analyzed;the obstacle performance is studied;and the relationship between the front and rear legs is calculated during the robot crossing steps and grooves.The strategy of robot platform attitude adjustment and crossing are studied and the results can be referred as the theoretical basis for the robot＇s control system design.