轮腿式移动平台行动机构设计与越障能力分析

Action Mechanism Design and Obstacle Climbing Analysis of Leg-wheel Unmanned Mobile Platform

为满足复杂路面越野机动和翻越垂直障碍的能力需求,设计了轮腿结合式移动平台行动机构及相应的翻越障碍物的动作,分析了轮腿结合式行动机构越障过程中的受力情况和动力需求,使用MATLAB计算获得轮腿摆动驱动电机的最大输出转矩,并通过软件ADAMS建立该移动平台整机模型,仿真分析了移动平台翻越障碍的过程。结果表明:该结构设计满足通过200 mm高台所需,获得摆臂电机最小转矩参考值为5.01 N·m,为轮腿式移动平台的进一步研究提供了理论基础和依据。

To achieve high mobility for country crossing and the ability of climbing vertical obstacles,a novel leg-wheel mobile platform is designed,including the action for obstacle climbing.Focusing on forces and power requirements on leg-wheel mechanism in the process of obstacle climbing,using MATLAB to get the maximum of output torque during motor drive legs swing process,a model of mobile platform is estab-lished through the multibody dynamics modeling software ADAMS,the process of obstacle climbing is simu-lated and analyzed.Results show that the proposed structure design can satisfy the requirements of 200 mm high platform and gains the minimum torque 5.01 N·m of swing arm motor as reference value,which pro-vides a theoretical basis and foundation for further studies on wheel legged mobile platform.