多悬挂轮式机器人底盘通过性研究

Research on Chassis Pass Ability of Multi-suspension Wheeled Robot

为提高服务机器人通过性能,提出一种多悬挂底盘结构。通过对现有服务机器人调研,分析主要性能指标并完成多悬挂轮式机器人底盘设计。分别建立多悬挂及传统结构底盘数学模型,对比分析越障高度和爬坡角度。基于ADAMS搭建台阶及斜坡工况进行动力学仿真,得到两种底盘的最大越障高度、最大爬坡角度及动力学特性。最后搭建实物样机,对多悬挂底盘进行实验,验证其通过性能。结果表明:多悬挂底盘适用于通过性能要求高的场合,传统底盘适用于车身稳定性要求高的场合,可根据不同的应用场景选择相应的底盘形式。

In order to improve the performance of service robot, a multi-suspension chassis structure is proposed. Through the investigation of existing service robots, the main performance indexes are analyzed and the chassis design of multi-suspension wheeled robots is completed. The mathematical models of multi-suspension chassis and traditional chassis structure were established respectively, and the obstacle crossing height and climbing angle were compared and analyzed. Based on ADAMS, the dynamics simulation of step and slope conditions was carried out, and the maximum obstacle crossing height, maximum climbing angle and dynamic characteristics of the two chassis were obtained. Finally, a physical prototype is built, and the multi-suspension chassis is tested to verify its performance. The results show that the multi-suspension chassis is suitable for situations requiring high performance, while the traditional chassis is suitable for situations requiring high stability of the body, and the corresponding chassis form can be selected according to different application scenarios.