摘要
提出了一种基于3-CUR并联机构的轮腿式机器人,其具有轮式的移动速度快和腿式的越障能力强的优点,并具备并联机构的刚度大、承载能力强等优势。对3-CUR轮腿式机器人进行结构设计,且对3-CUR并联机构进行研究分析,得到其具有3-DOF(两转一移)。通过运动空间需求量和最大稳定裕度对比分析,得到3-CUR轮腿式移动机器人在行走状态的最佳步态。利用SOLIDWORKS模拟了机器人在平地和沟壑的行走过程,得到了机器人的最大步长与步高;分析了机器人的质心变化情况,得到该机器人在行走过程中平稳性良好,可用于复杂、危险环境的探测和救援。
A wheel-legged robot based on3-CUR parallel mechanism is proposed,which has the advantages of fast moving speed of wheeled robot and strong obstacle-obstacle ability of leg-type robot. It also has the advantages of high stiffness and strong load-carrying capacity of parallel mechanism. Through the design of the 3-CUR wheel-legged robot structure and the analysis of the 3-CUR parallel mechanism,it is determined that it has 3-DOF(two-to-one shift). By comparing and analyzing the motion space demand and maximum stability margin,the best gait of 3-CUR wheeled-legged mobile robot in walking state was obtained. By using SOLIDWORKS to simulate the walking process of the robot in the flat and gully,its maximum step size and step height are obtained;By analyzing the change of the center of mass of the robot,it is concluded that the robot has good stability during the walking process and can be used for detection and rescue of complex and dangerous environment.
作者
丰玉玺
李清
杜昱东
张维朋
FENG Yu-xi;LIQing;DU Yu-dong;ZHANG Wei-peng(School of Mechanical Engineering,North University of China,Shan'xi Taiyuan 030051,China;Ningbo University of Finance Economics,Zhejing Ningbo 315175,China)
出处
《机械设计与制造》
北大核心
2021年第12期257-261,共5页
Machinery Design & Manufacture
基金
浙江省公益基金(2016C31130)
宁波自然科学基金(2015A610143)
山西省自然基金(201701D121079)。
