一种摇臂轮组与行星轮组相结合的爬楼越障机器人结构设计

Structure Design of Climbing Obstacle Robot Based on Rocker Wheelset and Planets Wheelset

为了提高轮式机器人移动的地形适应能力和越障能力,提出了一种摇臂结构与行星结构相组合的10轮多地形自适应移动机器人。该机器人采用摇臂结构轮组作为前驱轮组被动摆动适应地形变化,行星结构轮组作为后驱轮组主动翻转翻越障碍适应地形。利用Adams软件构建机器人爬楼越障动力学模型,仿真分析机器人爬楼越障过程。研制了物理样机,根据多级台阶、楼梯、斜坡、崎岖地形进行适应性测试。试验结果表明:该机器人能够连续通过5种不同尺寸的楼梯,且在50 s通过13级台阶,验证了该机器人的地形适应能力和越障能力。

In order to improve the terrain adaptation and surmounting obstacle ability of wheeled mobile robots,the terrain adaptive ten-wheeles mobile robot with rocker arm structure and planetary structure was proposed.The robot adopted the rocker arm structure wheel as the front wheel to adapt the terrain changes by passive swinging,and the planetary structure wheel as a reat-drive wheel to roll over obstacles actively to adapt the terrain.Kinetic model of robot was built up by Adams software to analyze the process of robot stair-climbing and obstacle-crossing.In addition,the physical prototype was made to verify the robot practical adaptability on the multi-stage steps,stairs,slopes and other rugged terrains.The experimental results show that the robot continuously passes through stairs of five different sizes and passes 13 steps in 50 s,which verifies the terrain adaptability and obstacle surmounting ability of the robot.