阿基米德螺线变形轮的设计与研究

Design and Research of an Archimedean Spiral Deformation Wheels

针对轮组式、轮履复合式和轮腿复合式等传统爬楼机构对楼梯适应能力不足以及体积笨重的问题,以攀爬楼梯为首要任务和设计目的,提出了一种新型楼梯越障机构——阿基米德螺线变形轮。该变形轮不仅能够较好地适应楼梯这种复杂环境,而且结合了轮式行进机构的强机动性与螺线行进机构的优良越障性。使用SoildWorks软件对变形轮机构和总体装配方案进行设计;根据运动环境和越障过程对变形轮进行参数计算和数据分析,优化了变形轮翻越连续台阶过程;最后,应用Adams软件对变形轮越障过程进行仿真分析,并将行星轮和变形轮进行对比仿真,证明了设计与研究的有效性。仿真结果证明,所设计的变形轮具有较强的机动性与稳定性。

Aiming at the problems of insufficient adaptability to stairs and bulky volume of traditional climbing mechanisms such as wheel group types,wheel shoe compound types and wheel leg compound types,taking climbing stairs as the primary task and the design purpose,a new type of stair obstacle surmounting mechanism Archimedean spiral deformation wheel was proposed.This deformation wheel not only adapts well to the complex environment of stairs,but also combines the strong maneuverability of wheeled travel mechanisms with the superiority of spiral travel mechanisms.The deformation wheel mechanism and overall assembly plan were designed by using the SoildWorks software,the parameters were calculated,the data of the deformation wheel was analyzed based on the motion environment and obstacle crossing process,and the process of the deformation wheel climbing continuous steps was optimized.Finally,the Adams software was applied to simulate and analyze the obstacle crossing process of the deformable wheel,and a comparative simulation was conducted between the planetary wheel and the deformable wheel,indicating the effectiveness of the design and research.The simulation results show that the designed deformable wheel has strong maneuverability and obstacle crossing ability.