双摆臂履带可变形机器人结构设计与越障性能研究

Study on the Structural Design and Obstacle Barrier Performance of Double Pendulum Arms Crawler Deformable Robot

为发挥履带可变形机器人最佳越障性能,保证机器人在变形过程中履带长度不变且持续张紧,将椭圆定理和椭圆规原理应用于机器人构型设计,研制了一种新式履带可变形机器人。通过引入后摆臂,丰富了机器人构型变化,机器人重心在前后摆臂转动过程中有较大程度的调节,提高机器人的越障性能。建立坡道、台阶和沟壑等典型障碍的数学模型,对机器人翻越障碍进行步态规划和运动机理分析;建立机器人越障的运动学和动力学模型,分析机器人越障的临界条件和最大数值,利用Adams对越障进行仿真实验,结果验证了理论计算值的准确性和机器人的越障性能。

In order to make the best obstacle performance of the crawler deformable robot, and to ensure that the crawler length does not change and continue to tension during the change process, the ellipse theorem and the elliptical rule principle are applied to the robot configuration design, and a new type of crawler deformable robot is developed. The introduction of the rear swing arm enriches the configuration change of the robot, and the center of gravity of the robot has a large degree of adjustment during the rotation of the front and rear swing arms, the obstacle performance of the robot is improved. Mathematical models of typical obstacles such as ramps, steps and gullies are established. The gait planning and motion mechanism analysis of robot overcoming obstacles are established. The kinematics and dynamics models of robot obstacles are established, and the critical conditions for robots to overcome various obstacles are analyzed. The limit value is simulated by Adams to overcome the obstacles, and the accuracy of the theoretical calculation value and the obstacle performance of the robot are verified.