摘要
为解决移动机器人稳定性问题,对一种具有平衡摇臂悬架的步履复合式移动机器人进行研究。首先分析了平衡摇臂悬架机构的原理和结构。其次,针对斜坡路面变姿态,建立了纵翻和侧倾的数学模型。最后,针对单侧腿越障、变地隙工况进行了研究,对带有平衡摇臂悬架结构的机器人和普通的移动机器人的稳定性进行仿真和对比分析。分析结果表明,带有平衡摇臂悬架的机器人稳定性明显高于普通移动机器人。
In order to improve the stability of mobile robot,a walking composite mobile robot with balance rocker suspension is proposed. Firstly,the principle and structure of the balance-rocker suspension is analyzed. Secondly,according to the variable attitude of slope-climbing,a mathematical model of longitudinal slip and roll over is established. Finally,the study was conducted on the operating conditions of unilateral leg handicap and variable ground clearances,and simulation and comparison were conducted for the stability of the robot with balanced rocker suspension and common moving robot. The results show that the stability of the robot with balanced rocker suspension is obviously better than that of the common moving robot.
作者
王景瑶
莫秋云
尹佳蓓
高峰
WANG Jingyao;MO Qiuyun;YIN Jiabei;GAO Feng(Mechanical and Electrical Engineering College,Guilin University of Electronic Technology,Guilin 541004,China;Transportation Science and Engineering College,Beihang University,Beijing 100191,China)
出处
《拖拉机与农用运输车》
2018年第4期34-37,41,共5页
Tractor & Farm Transporter
基金
国家自然科学基金项目(51675027)
关键词
平衡摇臂悬架
越障
稳定性
步履复合式
Balance rocker suspension
Obstacle crossing
Stability
Walking composite
