轮腿式变胞机器人变形结构设计及其动力学分析

Deformation Structure Design and Dynamic Analysis of Wheeled Legged Metamorphic Robot

小型化机器人在场景使用中存在运动效率、体积大小、复杂结构无法有效平衡的矛盾。提出一种变形轮腿式移动机器人方案,通过对变形轮各类结构特征研究,不断对变形轮机构参数进行优化,设计出一种多四连杆组合的单驱动变形轮机构;同时对机器人力学关系进行参数研究,分析机器人稳定可控条件;利用MATLAB完成对控制器的仿真测试,测试结果证明机器人具备良好的稳定性与可靠性。研究内容对移动式机器人的设计与研究具有重要参考意义。

There is a contradiction that the motion efficiency,volume and complex structure of miniaturized robot can't be effectively balanced in the use of scene.A scheme of deformable wheel leg mobile robot is proposed.Through the study of various structural characteristics of deformable wheel,the parameters of deformable wheel mechanism are continuously optimized,and a single drive deformable wheel mechanism with multi four-bar combination is designed.At the same time,the parameters of the mechanical relationship of the robot are studied,and the stable and controllable conditions of the robot are analyzed.The simulation test of the controller is completed by MATLAB.The test results show that the robot has good stability and reliability.The research content has important reference significance for the design and research of mobile robot.