基于舵向结构原理的新型机器人底盘系统设计

Design of a new robot chassis system based on steering structure principle

为了提高轮式底盘机器人的灵活性、应对复杂地形的适应能力,提出了一种舵向结构的高机动性移动机器人。该机器人通过舵向结构在运动过程中对速度和方向分别控制以适应地形变化,在提高运动效率的同时也减少了运动分量对轮组造成的磨损。使用Solidworks和MATLAB分别对机器人的运动过程和控制系统仿真,研制出物理样机并进行组合运动、绕点运动等测试,结果表明:该机器人能够通过4个轮组的组合运动实现整体控制,在4 s内以0.3 m/s的速度绕半径为15 cm的圆运动一周,误差保持在1 cm以内,验证了该机器人的灵活性。

In order to improve the flexibility of wheeled chassis robots and the adaptability to cope with complex terrain,this paper proposes a highly maneuverable mobile robot with rudder structure.The robot controls the speed and direction separately during the movement through the rudder structure to adapt to terrain changes,improve the efficiency of movement,and also reduces the wear caused by the movement component to the wheel group.Solidworks and MATLAB are used to simulate the motion process and control system of the robot respectively,and a physical prototype is developed to conduct motion tests according to combined motion and orbital point motion.Experimental results show that the robot can achieve overall control through the combined movement of 4 wheel sets,and within 4 s at a speed of 0.3 m/s through the circle movement with a radius of 15 cm,the error remains within 1 cm.It is verified that the robot has a certain degree of flexibility.