小型两栖球形机器人陆地运动建模及实验分析

Study on on-land kinematic modeling and experiment of small-scaled amphibious spherical robot

为实现两栖环境和狭窄空间内生物搜救及跟踪调查等任务,需要机器人具备高灵活性、微型结构和多功能运动模式等特点。智能驱动器驱动的仿生微型机器人及电机驱动的中小型机器人很难同时满足要求。因此,提出由一个仿生小型两栖球形母机器人和若干微型子机器人组成的子母机器人系统,母机器人由电机驱动,具有矢量喷水-四足步行复合式一体化驱动机制、水陆两栖运动模式等特点,子机器人由智能驱动器驱动。首先对子母机器人系统进行了描述;其次对两栖母机器人进行了运动学建模分析、陆地运动步态设计;最后搭建了两栖球形母机器人原型机样机,且基于所设计的静态爬行/动态对角小跑步态进行了一系列的陆地运动实验,验证了母机器人陆上静/动态步态运动的灵活性和可行性。

The robot needs to have high mobility, micro structure, multi-functional movement patterns and etc while achieving biological search and rescue in the amphibious environment and narrow space, as well as tracking investigation and other tasks. The current robots have insufficient mobility, limited environmental adaptability, and lack of suitable small amphibious robots. Consequently, a father-son robotic system is proposed, which is composed of an amphibious father robot and several microrobots. An amphibious spherical father robot equipped with the "leg-vectored thruster" compound drive mechanism and amphibious sensing devices is constructed. Firstly, the mechanical structure and the kinematic model of robot are analyzed. Then, an on-land static crawling gait and dynamic trotting gait is designed and implemented, which enables the father robot to realize on-land motions in varied terrains. Finally, by using the prototype of amphibious spherical father robot, a series of on-land locomotion experiments are carried out, and the effectiveness and feasibility of the static/dynamic gaits of amphibious spherical father robot are verified.