平行四边形可变形履带机器人运动学分析

Kinematics analysis of variable parallelogram tracked mobile robot

为适应灾难救援环境,设计了一种平行四边形变形履带机器人VPTMR(Variable Parallelogram Tracked Mobile Robot),该机器人具有良好的越障能力。针对VPTMR跨越台阶过程的动作进行了分析与规划,对越障过程中的分阶段建立了运动学模型,分析了机器人在越障过程中整体质心位置与摆臂角的变化规律;为了使机器人在跨越台阶的过程中的质心保持最低,对VPTMR越障的动作姿态进行优化,将摆臂角的规划曲线进行拟合,并对比分析了优化前后的结果,为后续的动力学分析打下基础;实验结果表明了动作规划的正确性和姿态优化的有效性。

The variable parallelogram tracked mobile robot（ VPTMR） ,which has a favorable obstacle-cross-ing ability,is designed to adapt to the disaster rescuing environment. In this paper,the motion analysis and planning in the process of step-climbing have been studied for VPTMR. Kinemics model has been established by stage to analyze the relationship between CG and lower arm posture. To keep CG lowest,movement pos-ture of this robot during the obstacle-crossing process is optimized,and the fitting of planning curve of the arm swing angle is carried out. The results before and after optimization are compared and analyzed,laying a foundation for the further dynamic analysis,which verifies the correctness of motion planning and the effec-tiveness of posture optimization.