一种复杂环境高机动性轮式移动平台

A High Speed Wheeled Mobile Platform for Complex Environments Adaptation

移动机器人在星球探测,户外侦查,灾难搜救,以及军事等领域有着广阔的应用前景。为了设计一款能代替人类在复杂环境进行作业的小型高速移动机器人,侧重于横向非结构地形,提出了一种拥有被动悬架的轮式移动平台,对其结构进行了三维建模,对越障结构和减震系统进行了力学计算,为评估其越障性能进行了动力学仿真,为其动力系统和控制系统进行了选型和配置,组装一代样机并进行了实验。实验结果表明该样机能够较好地适应横向地形。

Mobile robots have broad application prospects in the fields of planetary exploration,outdoor detection,disaster search and rescue,and military maneuver.To design a small high-speed mobile robot that can replace humans in complex environments,a wheeled mobile platform with passive suspension was proposed focusing on sideways unstructured terrain.The structure was modulated in 3-dimention,the obstacle structure and the damping system were calculated in mechanics,a dynamics simulation was proposed to evaluate the obstacle performance,and the power system and control system were selected and configured.A prototype was assembled and tested.The experimental results show that the prototype can adapt well to aside ways terrain.