具有全方位移动和越障功能的新型机器人的设计

Design of A Novel Robot with Omni-directional Mobile and Obstacle-crossing Function

设计了一种具有平面内3自由度全方位移动,并且能够在45°陡坡范围内被动适应跨越轮子半径约4倍高度障碍的新型机器人。该机器人采用4个Mecanum驱动轮矩形布置,并分别安装在车体两侧双曲柄、弹簧耦合的越障机构上。给出了一般结构形式的Mecanum四轮系统的运动学模型,并得到其实现全方位运动的必要条件是逆雅可比矩阵满秩。优选出了四轮全方位运动系统的最佳结构布局形式。对越障机构进行了运动学建模以及结构参数的优化。最后,对整个机器人系统在平面内的直行、横行、原地转弯以及复杂地形环境下的越障等功能进行了虚拟样机系统仿真和实物样机功能测试。

An innovative robot is designed. It can move in omni-direction on flat floor with three degrees of freedom in plane,and is also able to passively overcome obstacles of up to 4 times of its wheel radius within the 45 degree slope range. By using rectangle configuration,the four Mecanum motorized wheels is arranged on a climbing structure on each side which is consisted by double cranks and spring coupling. In order to find the conditions of the system with four Mecanum wheels to move in omni-direction,the motion model of the general system is put forward and the inverse velocity Jacobian matrix is analyzed. Then six typical layouts of four Mecanum wheels are illustrated and the optimal layout is picked out by calculating the Jacobian matrix rank of the six typical layouts. The kinematic model of the climbing structure is built and its parameters are optimized. Finally,the functions of the robot system including straight movement,lateral movement,zero turning radius and overcoming obstacles are simulated based on the virtual prototype technology. A well functioning prototype is designed and manufactured,and its performance is excellent.