具有被动摆臂的八轮机器人结构设计与仿真分析

Structural Design and Simulation Analysis of Eight-wheeled Robot with Passive Swing Arm

为了提高轮式移动机器人的地形适应性、越障性和操控性,设计了一种具有被动摆臂的八轮机器人。采用铰接式摇臂能被动适应地形变化而相对转动,并在铰接点引入柔性关节以产生阻力矩,提高机器人的稳定性。分析了机器人在垂直台阶的越障机理,利用RecurDyn软件进行越障性能仿真,分析得出机器人越障的关键阶段。仿真结果表明,机器人可以攀越大于车轮直径的垂直台阶;并通过有、无柔性关节的仿真对比,验证了柔性关节的可行性,得出最优设计参数,为物理样机的研制提供理论依据。

In order to improve the terrain adaptability,obstacle-climbing capability and operability of wheeled mobile robots,an eight-wheeled robot with passive swing arms is designed.The articulated rocker arm can passively adapt to the change of the terrain and rotate relatively,and a flexible joint at the hinge point is in⁃troduced to generate a resistive torque,to improve the stability of the robot.The obstacle-climbing mechanism of this robot on vertical step is analyzed.The obstacle-climbing simulation is carried out by using the Recur⁃Dyn,the simulation results show that the robot can climb the vertical step beyond the diameter of the wheel.The feasibility of flexible joints is verified by simulation comparison experiments with and without flexible joints,and the optimal design parameters are obtained,a theoretical basis for the development of physical prototype is provided.