轮式机器人:创新设计与实验研究

Wheeled Robots:Innovation Design and Experiments

轮子是人类的一项伟大发明,轮式移动系统为人类的生产和生活带来了极大便利,机器人采用轮式移动系统是一个十分重要的发展方向。为克服普通轮子对复杂地形适应性不足的问题,研究者们在轮子与行驶表面的吸附方式、轮子自身的几何形态、行驶过程中的转向方式等方面进行了探索。在轮子将滑动摩擦转变为滚动摩擦这一移动机理的基础上,针对崎岖地形翻越、垂立壁面爬升、地面全向移动等场景要求,该文提出了三模式变形轮、磁吸附轮、变参数全向轮等3类新型轮子结构,及其相应的轮式移动结构;通过连杆机构实现了三模式变形轮在圆轮模式、爪模式、勾模式之间的切换和机器人的双向越障;通过磁吸附轮结构和被动三自由度悬架,使全部轮子始终贴合壁面,实现了机器人的壁面行驶;通过空间机构调节辊子安装角参数,使轮子摩擦力方向受控,保障了机器人的全向行驶;通过样机搭建和实验研究,验证了该文所提创新设计的可行性。

Wheel is a great invention of human beings.The wheeled mobile system has brought great convenience to humans in production and daily life.Therefore,the wheeled robot is a very important development direction.To overcome the problem of insufficient adaptability of ordinary wheels to complex terrain,many research works have been investigated including the adhesion mode between wheels and supporting surface,the wheels’geometry,the steering mode and so on.In this paper,based on the mechanism of wheels changing sliding friction into rolling friction,this paper proposes three new wheel structures,including tri-mode transformable wheel,magnetic adhesion wheel and variable parameter omni-directional wheel,and their corresponding wheel mobility structure,which aims at the requirements of uneven terrain crossing,vertical wall climbing and ground omni-directional movement.Through the linkage mechanism,the tri-mode transformable wheel switches its geometry among round mode,claw mode and hook mode,and the bi-directional obstacle crossing of the robot is realized;Through the magnetic adhesion wheel and passive suspension with three degrees of freedom,the robot can move on the wall with all wheels attached to the surface;Through applying the spatial mechanism to adjust the roller installation angles,the direction of wheel friction can be controlled and the omni-directional driving of the robot can be realized;through prototype construction and experimental study,the feasibility of the proposed innovative designs are verified.