一种新型轮腿式移动机器人的越障能力分析

Analysis on Obstacle Negotiation of a New Wheel-legged Robot

轮腿式机器人是一种兼具轮式和腿式机器人特性的复合式移动机器人。首先提出一种能适应复杂地形的串并混联式轮腿结构,并由此设计具有各向同性的六足轮腿式移动机器人。分析并建立了该机器人越障高度及跨沟宽度与其机构尺寸之间的数学关系,据此进行机器人设计。最后利用仿真试验验证了机器人跨越障碍和沟渠的能力。

Wheel-legged robot is a hybrid mobile robot with the advantages of wheeled robots and legged robots. Firstly, a series-parallel wheel-legged structure that can adapt to complex terrain is developed, and the wheel-legged mobile robot is designed. Then a mathematical model of the robot system is built, to reveal relationship between the height of barrier and the basic size of the mechanism as well as the relationship between the width of trench and the size. The relationship between the ability to cross obstacles and the structural sizes guides the design of the robot. Finally, the ability to cross the barriers and the trenches is demonstrated through simulation experiments.