摘要
以关节式履带机器人为研究对象,详细描述了机器人攀爬楼梯的越障动作规划,考虑了摆臂动作对机器人在越障过程中质心变化的影响,同时以摆臂的初始姿态和特殊姿态作为几何约束条件,基于质心运动学方程和最优化方法分析了机器人的结构尺寸与楼梯台阶宽度、高度、夹角之间的关系,得出了机器人越障的最大高度、宽度,并采用Matlab对机器人的越障性能进行模拟仿真,仿真结果表明了理论分析的正确性,为优化关节式履带机器人的越障性能提供理论依据。
The articulated-tracked robot is researched as an object, and action plans of obstacles are described detailedly about the robot climbing stairs.The change of centroid of the robot is taken into account by the arm action on the process of obstacle, and the initial posture and special posture of the arm as geometric constraints simultaneously, relationships are analyzed among the structure size of the robot and width, height, angle of steps about stairs by the kinematic equation of centroid and optimization method, and the maximum obstacle height and the width of the robot are obtained. Then the virtual simulation of performance for obstacle negotiation of the robot is implemented by using Matlab software, and simulation results show the correctness of the theoretical analysis. A theoretical basis is provided for optimizing the obstacle negotiation performance of articulated-tracked robot
出处
《机械设计与制造》
北大核心
2014年第6期39-42,共4页
Machinery Design & Manufacture
基金
国防基础科研计划资助项目(B2220110013)
