摘要
针对室内外不同工作环境对移动机器人的结构有不同的要求,本文设计了一种的模块化的轮-履式移动机器人,描述了该轮-履式移动机器人纯轮式、纯履带式及轮履混合式等不同的运动模式;基于该机器人模块化的履带式结构特性,依据刚体平面运动理论,分析了该机器人的转向运动条件;基于转向阻力矩模型,建立了该轮-履式移动机器人完成履带式转向运动的约束方程。仿真和实验证明,此种轮-履式移动机器人地形适应能力强,在履带运动模式下,采取大的转向半径及小的转向比可有效减少机器人的转向阻力矩,能很好地完成转弯运动。
Different operational environments have different requirements for the structure of mobile robots. This paper designed a new modular track-wheel mobile robot and described different motion modes, including pure wheel motion mode, pure track motion mode, and wheel-track motion mode. On the basis of the modular caterpillar structure of the robot and the plane motion theory of rigid body, the condition for steering movement was analyzed on the basis of the steering resistance moment model, and a constraint equation for the wheel-track mobile robot to complete the caterpillar steering movement was established. Experiments and simulations show that this type of mobile robot can adapt to various terrains. With the track motion mode, the steering resistance moment can he effectively reduced by adopting a large steering radius and a small steering ratio. Thus, the steering motion can be properly completed.
作者
帅立国
苏慧哲
郑丽媛
费燕琼
SHUAI Liguo;SU Huizhe;ZHENG Liyuan;FEI Yanqiong(School of Mechanical and Electrical Engineering, He＇ nan Institute of Scienee and Technology, Xinxiang 453003, China;Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200240, China)
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2017年第10期1630-1634,共5页
Journal of Harbin Engineering University
基金
国家自然科学基金项目(51075272
61175069)
关键词
轮履
运动模式
移动机器人
转向运动
模块化
阻力矩
转向半径
转向比
track-wheel
motion mode
mobile robot
steering movement
modular
resistance moment
steering radius
steering ratio
