一种可重构多模式步滚移动机器人

A Reconfigurable Multi-mode Walking-rolling Mobile Robot

为适应多重复杂地形环境的需求,提出了一种新型的具有行走、变形和滚动能力的可重构多模式移动机器人,该机器人可以根据地形改变不同的运动模式,提高了对非结构化地形的运动适应性。利用螺旋理论找出机构在各运动模式下的奇异位,并对机构在各运动模式下移动可行性进行分析。运用ADAMS软件对多重特征地形进行了仿真试验,结果表明,该机构在步态、稳定性、多环境适应能力等方面有明显的优势,最后样机试验也验证了各运动模式的可行性。

In order to meet the requirements of multiple terrain environments,a new reconfigurable multi-mode mobile robot with walking,deformation and rolling ability is proposed,which can change differ ent motion modes according to terrain and improve the adaptability to unstructured terrain. The singularity of the robot in each motion mode is found out by using screw theory,and the feasibility in each motion mode is analyzed. Simulation experiments in the multiple feature terrain are carried out with ADAMS software. The simulation results demonstrate the advantages in gait,stability and multiple environment adaptability. Finally the feasibility of various motion modes is also verified by the prototype experiments.