面向林地作业的腿履复合移动机器人构型设计与越障策略研究

Configuration Design and Overbarrier Strategy of the Quad-track Composite Robot Used for Forestry

针对林地地面环境复杂、台阶和倒木障碍多的问题,设计一种腿履复合移动机器人。在分析犬类腿部骨骼结构参数和运动特性的基础上,设计3关节构型与履带复合的移动机器人腿部结构,为了尽可能减轻整机质量,将履带部件和机器人腿部的大腿结构有机融合。构建机器人单腿的运动学模型,分析机器人足端工作空间,提出针对腿履复合移动机器人的林地越障策略,仿真分析越障过程中机器人关节的动态特性。仿真结果表明:利用腿部关节摆动和履带推进的组合和适时切换,该腿履复合移动机器人能实现灵活的台阶和倒木障碍的跨越;越障过程中,除与障碍接触时刻的关节力矩突变外,腿部关节力矩变化平稳,履带运动模式和足式运动模式切换平顺。研究为下一步机器人样机研制和控制系统开发提供了技术基础。

Aiming at the complex ground environment,lots of steps and wooden obstacles,a kind of mobile robot which was compounded leg and track was designed.Based on the analysis of the bone structure parameters and movement characteristics of the canine leg bones,the mobile robot leg structure with the 3-joints configuration and the track composite was designed.To reduce the quality of the whole machine as much as possible,the track parts and the thigh structure of the robot leg were organically compounded.The kinematic model of the robot single leg was constructed,and the robot foot working space was analyzed.The forest obstacle crossing strategy for the leg-track compounded mobile robot was proposed.The dynamic characteristics of the robot joints were simulated.The simulation results show that the use of leg joints swing and track propulsion combination and timely switch,the leg-track compounded mobile robot can achieve steps and fall tree obstacles overbarrier flexibly;in the process of obstacle crossing,the joint torque of the leg changes smoothly except for the abrupt change of the joint torque at the moment of contact with the obstacle;track movement mode and foot movement mode switch smoothly.It is the technical base for the robot prototype and control system development.