单闭链全R副多模式全向地面移动机器人

Single Closed-chain Full R Pair of Multi-mode Omnidirectional Ground Mobile Robot

为解决移动机器人运动过程中因翻倒、失稳而失去运动能力的问题,提出一种具有可变形结构的多模式全向地面移动机器人。以单环全R闭链为单元,通过分时控制其转动副可实现三方向几何变形,使两闭链正交形成的4-RRRRRR并联移动机器人具有四种不同滚动模式,且各模式可相互切换,机器人运动过程中一旦翻倒、失稳,可变形为其他模式继续移动。通过对机构进行自由度、步态规划、运动可行性分析及各模式虚拟样机仿真,结果表明,机器人可实现各运动模式且能在各模式间相互切换,并具有良好的越障能力。

In order to solve the problem of loss of motion ability due to overturning and instability during the movement of a mobile robot,a multi-mode omnidirectional ground mobile robot with a deformable structure is proposed.A single-ring full R closed chain is used as the unit,and the three-direction geometric deformation is realized by controlling its rotating pair in time sharing.The 4-RRRRRR parallel mobile robot formed by two closed chains orthogonally has four different rolling modes,and each mode can be switched from one to another.Once the mobile robot is overturned and unstable during its movement,it may be deformed into other modes and continue to move.The mechanism′s degree of freedom,gait planning and motion feasibility of each model′s virtual prototype are simulated and analyzed.The results show that the robot can achieve various motion modes and can switch from one to another,thus having a good ability to cross over obstacles.