爬楼梯机器人的设计与测试

Design and test of stair-climbing robot

为了解决机器人在台阶、楼梯上的运动问题,文中设计了一种具备主-副轮(由旋转臂带动)机构和可伸缩车体的爬楼梯机器人,阐述了其工作原理,对相关的设计参数进行了计算,并对制作的试验样机进行了测试。在高度为150 mm的单步台阶上、下测试中,使用主-副轮机构时测得的最大冲击加速度为13 m/s^(2),明显优于只使用主轮时的25 m/s^(2)。在踏面宽度为240 mm、踢脚高度为150 mm的楼梯上,对机器人进行了连续上下楼梯测试,验证了其安全性和稳定性。结果表明,所设计的机器人在台阶、楼梯上运动时具有良好的适应性,具备较好的实用性和应用前景。

In this article, in order to solve the problem of robot movement on the steps and stairs, a stair-climbing robot equipped with a main-sub-wheel(driven by a rotating arm) mechanism and a retractable body is developed. Efforts are made to describe its working principle and calculate the relevant design parameters. In addition, the experimental prototype is tested. In the single-step up and down test with the height of 150 mm, the maximum impact-acceleration by means of the main-sub-wheel mechanism is 13 m/s^(2), which is significantly better than that of 25 m/s^(2) by means of the main-wheel mechanism. The robot is tested on a staircase with the tread width of 240 mm and the kick height of 150 mm, and thus its safety and stability are verified. These results show that this robot with a higher standard of adaptability when moving on the steps and stairs has desirable practicality and application prospects.