任务型履带单兵机器人系统设计与越障性能分析

System Design and Obstacle-surmounting Performance Analysis of Task-based Tracked Individual Robot

军事用途机器人的应用很大程度上降低了士兵及工作人员作业的危险性,针对当前单兵机器人普遍具有的结构复杂、携带不便等问题,设计并研制了一种便于携带的任务型单兵机器人,其轻质、灵活的特点可快速响应侦察、排爆、采样等任务的需要。为分析机器人的越障机理并提高越障性能,通过建立质心运动学模型,对机械臂俯仰角、机器人俯仰角与凸台越障最大高度进行理论分析,并通过仿真实验得到了机械臂不同姿态下机器人越障的质心位置变化曲线以及对应的驱动转矩曲线,以此确定了最佳越障姿态,最终通过实物实验验证了结构设计的合理性及理论分析的正确性。研究成果为后续单兵机器人的发展和移动机器人越障性能的改善提供参考。

The application of military purpose robots has greatly reduced the risks of soldiers and workers,in view of the current individual robots are common problems such as complicated structure,carrying the inconvenience,a kind of easy to carry the task of individual robots were designed and developed.Its lightweight and flexible characteristics can quickly respond to the task of reconnaissance,explosive disposal,sampling and other tasks.To analyze the robot obstacle-navigation mechanism and improve the obstacle-surmounting performance,through the establishment of the center of mass of kinematics model of the mechanical arm pitching angle,the pitching angle and convex obstacle surmounting of robot were theoretically analyzed,the maximum height and the mechanical arm was obtained by simulation experiment under the different attitude of the robot obstacle-navigation centroid position change curve and the corresponding driving torque curve,in order to determine the optimum obstacle.Finally,the rationality of the structure design and the correctness of the theoretical analysis were verified by the physical experiment.The research results provide reference for the development of soldier robot and the improvement of obstacle surmounting performance of mobile robot.