变形六轮腿式机器人越障性能分析与结构优化设计

Obstacle Crossing Performance Analysis and Structural Optimization Design of Deformable Six Wheel-Leg Mobile Robot

为了提高移动机器人的越障能力,提出了一种变形六轮腿式移动机器人总体结构,分析了其越障原理及机器人越障时前腿机构的运动特性要求。利用多体动力学仿真软件Adams,建立了前腿机构的参数化模型,分析了前腿特征点在越障过程中的运动轨迹变化。提出了前腿机构越障过程的两个约束条件,以前腿机构越障高度最大为优化目标,对影响机器人越障性能的关键参数进行了优化设计。优化结果表明:前腿机构的越障性能得到了大幅提高,并且满足越障时的运动特性要求,为移动机器人的总体设计与研究奠定了基础。

In order to improve the obstacle crossing ability of mobile robot ,the overall structure of a deformable six wheel-leg mobile robot was designed. The principle of obstacle crossing of the robot was analyzed, and the kinematic characteristics requirements of the robot＇s foreleg were proposed. Based on A dams, the parametric model of the foreleg mechanism was built, and the trajectory changes of the feature point in the process of obstacle crossing were analyzed. Two constraint conditions in the process of foreleg mechanism obstacle crossing was proposed, take the ability of obstacle crossing as optimization objective, the key parameters which affect the performance of obstacle crossing was optimized. Optimization results show that： a foreleg mechanism that meet the kinematic characteristics requirements was obtained, and its ability of obstacle crossing was remarkably increased, all of the analysis provided foundation for the overall design and research of the mobile robot.