新型轮腿式地面移动机器人的结构设计与运动特性分析

Structure Design and Analysis of Movement Characteristics for a New Type Wheel-Legged UGV

依据平行四边形悬挂机构的运动特性设计的轮式移动机器人具有良好的越障性能,通过结合摆臂和行星轮机构而设计的新型轮腿式地面移动机器人克服了原有机器人不能跨沟的缺陷,对外界非结构化的路面环境具有良好的适应能力。详述了该新型轮腿式机器人的结构特点,对该机器人的运动特性进行了分析,并利用拉格朗日方程建立了该机器人越障状态下的动力学模型。采用一组可行的结构尺寸,利用ADAMS软件建立虚拟样机模型验证了该地面移动机器人的可行性。

According to the movement characteristics of parallelogram links mechanism, a wheeled UGV had remarkable performance of obstacle-surmounting. The new type wheel-legged UGV overcome the defects that the previous UGV could not cross the groove by adding swing arms and planet gears. It had good adaptability to the unstructured ground. The paper described the structure of the wheel-legged UGV in details, and analyzed the movement characteristics, and established the dy- namics model by using the Lagrange equation. Finally, a virtual prototype was built for a group of fea- sible structure size, and the simulation results based on ADAMS software verify the feasibility of the wheel-legged UGV.