Abstract:

This paper presented a new kind of wheel-legged rover—rolling-wolf, which was simple but possessed strong structure stability, good load distribution and excellent motion performance. Rolling-wolf was driven by means of ball screws and sliders instead of the generally method of adding driving motors to the joints directly. The mechanical properties of
rolling-wolf and the ordinary articulated wheel-legged robots were analyzed and compared at first. And then, the kinematic model of rolling-wolf was built, and three kinds of rolling-wolfs with different structure configurations were introduced. The motion envelope domains which evaluate their kinematic characteristics were solved in MATLAB based on the kinematic model. Finally, the overall structural design of rolling-wolf was finished based on the solution results.

Key words: wheel-legged rover, robot, structure design, rolling-wolf

摘要：

设计了一种结构简单、承载能力强、越障性能好的新型轮腿式机器人——rolling-wolf。该机器人采用滚珠丝杠驱动轮腿运动,有效改善了以往轮腿式机器人的力学性能,提高了系统的承载能力以及轮腿机构的稳定性。首先将所设计的rolling-wolf和普通关节式轮腿机器人的力学特性进行了对比分析,分析结果表明rolling-wolf轮腿机构在力学特性上具有优越性。然后建立了rolling-wolf的运动学模型,并使用MATLAB对三种不同结构的rolling-wolf的轮腿运动包络域进行了求解。最后,根据对不同结构的rolling-wolf运动特性分析结果,选择了具有最佳运动特性的轮腿机构,完成了机器人整体结构设计。

关键词: 轮腿, 机器人, 结构设计, rolling-wolf