摘要
针对现代机器人爬越障碍物相对困难的问题,提出一种新型变形轮式爬楼越障机器人的设计方案。根据变形轮的受力进行分析,构建机器人的爬楼越障运动模型,并利用几何关系对模型进行求解。结合常见障碍物的形状尺寸(如楼梯),分析变形轮式爬楼越障机器人的综合尺寸,使机器人的变形轮可实现圆轮式和变形轮式的移动变换。最后对样机进行实验,实验结果显示该爬楼越障机器人的变形轮具有较高的机动性和较强的越障性,且可适应不同复杂程度的路况。
In view of the difficult problem of robotic climbing,a new mobile system design plan of deformable wheel climbing obstacle-surmounting robot is proposed. According to the force analysis of the deformable wheels,the robot motion model is constructed and the model is solved by geometric relation. Combining with the shape of the common obstacles,such as staircase,the comprehensive scale of the deformable wheel climbing obstacle-surmounting robot is analyzed. And the robot can realize the switch of the circle wheels and deformable wheels. Finally,a prototype test is made successfully. The result of the test shows that the deformable wheel of the robot has high motility and strong crossing obstacle ability,and the robot can adapt to a variety of complex road conditions.
作者
魏军英
袁苑
范召舰
Wei Junying , Yuan Yuan ,Fan Zhaojian(College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao 266590, China)
出处
《机械传动》
CSCD
北大核心
2018年第5期96-99,共4页
Journal of Mechanical Transmission
关键词
变形轮
越障
楼梯
样机实验
Deformation wheel
Obstacle - surmounting
Stair
Prototype test
