四连杆爬楼梯机器人的改进和优化

Optimization and Refinement of the Four-bar Linkage Stair Climbing Robot

针对非结构环境楼梯对机器人的移动要求,提出了一种四连杆爬楼梯机器人,介绍了机器人结构特点,建立了机器人三维模型。应用虚拟样机软件ADAMS对四连杆爬楼梯机器人进行了越障和差速转弯仿真,分析了其越障构态的变化特点,并根据输出仿真特性曲线对机器人进行了改进和优化,实物试验,验证了改进和优化方法的正确性。

According to the requirement of the robot motion in the unstructured environment stairs, the strueture charaeleristies of the robot are introduced, the robot 3D model is created. The four-bar linkage stair elimbing robot for obstacle and differential turning was simulated by ADAMS, and the change characteristics of the obstacle configuration were analyzed. The robot was improved and optimized according to the output characteristic eurves. Experiments of the robot verify the truth of the improved and optimized method.