单动力可转向爬行Schatz机构

A Steerable Crawling Schatz Mechanism Driven by One Actuator

基于经典Schatz机构提出一种在单一动力机的驱动下可以在地面上爬行并可控制移动方向的新概念移动机构。首先,根据Schatz机构的结构特性,考虑地面移动的功能需求,提出爬行Schatz机构的设计方案,进行了杆件形状设计和电动机的布置。其次,分析其移动机理。然后,基于动力学仿真软件建立虚拟样机进行仿真试验。继而,根据所发现的移动特性进行移动路径规划,提出对电动机进行转速调控以实现移动方向控制的方法,研究使其实现平面内任意移动的控制策略。最后,设计制作了样机,通过试验摸索出其移动规律,验证了转向控制方法和策略,试验结果证明了理论分析及研究的正确性。

Based on the classical Schatz mechanism, a kind of new-concept mobile mechanism driven by one actuator is proposed, which is capable of crawling and its moving direction is under full control. Firstly, the design scheme of the mobile mechanism is presented considering the structural characteristics of the Schatz mechanism and the function of ground moving, and the shape of rods and the placement of the actuator are determined. Secondly, the mobile principles are analyzed. Thirdly, the simulation experiments are carried on with dynamic softwares. Fourthly, the route plan is made which is based on the mobile rules discovered in the simulation experiments, and a method of controlling the moving direction by controlling the actuator’s speed is figured out. With the method, the controlling strategy is studied, which enable the mechanism to move in the ground. Finally, a prototype for experiments is manufactured and the mobile rules are discovered in the experiments, with which the controlling method and strategy are verified, and therefore the analysis and research are testified by the experiment results.