Abstract:

To adapt to the unstructured environments where the terrain is irregular and plain alternately,a transformable quadruped robot which has rolling mode was proposed herein.The quadruped structure was designed and the structural parameters were also  obtained by geometric method.In order that the mass center coincided with the centroid,static balance counterweight was made to the quadruped.The roller was
simplified as open chain bow-shaped linkages as the rolling movement was discussed in a straight line.When the linkages were expended as noncircular form,gravitational moment was generated as the mass center departed from the centroid,and the roller was self-propelled by the moment. The mass center expression of noncircular roller during a quasi-static rolling circle was derived using D-H method.The offset of mass center varied in a quasi-static rolling circle was figured out when the structural parameters of circular roller was inputted into the expression.The results verify  the rationality of structural design and counterweight.

Key words: transformable quadruped, rolling mode, mass center, structure, counterweight

摘要：

为了适应崎岖与平坦共存的非结构环境,提出了一种具有翻滚运动模式的可变形四足机器人。对可变形四足机器人进行了结构设计,并采用几何法得到了其结构参数,进而对其进行了静平衡配重,使得圆形滚动体的质心与形心重合。滚动体的直线翻滚模型可以简化为由弓形杆件组成的平面开链连杆机构。当杆系展开为非圆形滚动体时,由杆系质心离开平衡点而产生的重力矩驱动滚动体。利用D-H法推导了非圆滚动体在一个准静态滚动周期中的质心表达式。将圆形滚动体的结构参数代入表达式从而得到其在准静态滚动过程中质心偏置的变化情况,验证了结构设计和静平衡配重的合理性。 
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关键词: 可变形四足机器人, 翻滚模式, 质心, 结构, 配重