中国机械工程

• 机械基础工程 • 上一篇    下一篇

轮-履双模式自适应机器人的设计与参数分析

李凡;张明路;吕晓玲;田颖;白丰
  

  1. 河北工业大学机械工程学院,天津,300130
  • 出版日期:2017-04-25 发布日期:2017-04-25
  • 基金资助:
    国家自然科学基金资助项目(61473113);
    河北省科技计划资助项目(15211832)

Design and Parametric Analyses of a Wheel-track Robot with Self-adaptive Ability

LI Fan;ZHANG Minglu;LYU Xiaoling;TIAN Ying;BAI Feng   

  1. School of Mechanical Engineering,Hebei University of Technology,Tianjin,300130
  • Online:2017-04-25 Published:2017-04-25

摘要: 基于被动自适应机理的研究,提出了一种具有轮-履双运动模式的移动机器人结构。该机器人能根据环境的约束产生被动变形并转换运动模式,跨越高于自身高度的障碍。通过建立移动机器人模型,对影响其变形的各机构参数进行了分析,并通过优化算法将各参数优化。最后对机器人变形过程进行仿真,验证了各机构参数的合理性。

关键词: 自适应, 轮-履模式, 结构设计, 参数分析

Abstract: Concept of a wheel-track robot was proposed with passive self-adaptive ability. When confronted with constraints like stairs or trenches, the robot could autonomously switch its locomotion mode by transforming track configuration. Thus, obstacles higher than the robot could be climbed. The wheel-track robot was driven by two separate servo systems to adapt with different terrains. Having built a model of the robot, the parametric analysis and optimization were conducted. At last, the simulation was performed and it shows that the results accord with the designing purposes.

Key words: self-adaptive, wheel-track mode, mechanism design, parametric analysis

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