北京航空航天大学学报 ›› 2009, Vol. 35 ›› Issue (3): 371-375.

• 论文 • 上一篇    下一篇

轮式腿型机器人的越障分析与仿真

陈殿生, 黄 宇, 王田苗   

  1. 北京航空航天大学 机械工程及自动化学院, 北京 100191
  • 收稿日期:2008-03-18 出版日期:2009-03-31 发布日期:2010-09-16
  • 作者简介:陈殿生(1969-),男,吉林扶余人,教授,chends@163.com.
  • 基金资助:

    国家杰出青年科学基金资助项目(60525314)

Obstacle climbing analysis and simulation of wheel-legged robot

Chen Diansheng, Huang Yu, Wang Tianmiao   

  1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2008-03-18 Online:2009-03-31 Published:2010-09-16

摘要: 为了提高地面移动机器人的地面适应性和越障能力,通过模仿昆虫的腿形,在移动机器人机械本体上设计了一种轮式腿结构.同时选择了轮式腿结构布局的最优方案,提高了机器人运动的平稳性.针对该种结构在非结构环境中的越障性能进行了相关的分析,从理论上分析了具有轮式腿结构的机器人具有很强的越障能力和越障平稳性.并用ADAMS (Automatic Dynamic Analysis of Mechanical Systems) 对该机器人进行了运动学的仿真,仿真结果表明具有轮式腿结构的机器人具有较强的越障能力,可以翻越高度为轮式腿半径1.2倍的垂直障碍,验证了机构的可行性和越障原理的正确性,为轮式腿型机器人的进一步研究提供了理论基础和依据.

Abstract: A wheel-legged structure with insectival leg configuration in a ground mobile robot was presented in order to improve the terrain adaptability and obstacle climbing capability of the robot. An optimal wheel-legged configuration which enhances the movement stability of the robot was selected. The obstacle climbing performance for the robot configuration under unstructured environment was analyzed, theoretically proving that this wheel-legged structure possesses good obstacle climbing ability and stability. Kinematic simulation using ADAMS (automatic dynamic analysis of mechanical systems) validates the strong obstacle climbing capability of the robot that can successfully climb over a vertical barrier whose height is 1.2 times of the wheel-leg radius, which proves the feasibility of the wheel-legs structure and the effectiveness of the obstacle climbing principle, laying a solid basis for future research of wheel-legged robots.

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