一种用于移动机器人的多段变形轮

杨洋; 张容哲; 广晨汉; 王扬

doi:10.13700/j.bh.1001-5965.2017.0580

一种用于移动机器人的多段变形轮

doi: 10.13700/j.bh.1001-5965.2017.0580

北京航空航天大学机械工程及自动化学院, 北京 100083

基金项目:

国家级大学生创新创业训练计划 201610006059

详细信息

作者简介:
杨洋男, 博士, 教授, 博士生导师。主要研究方向:机器人机构学、医疗机器人技术、精密机械设计

王扬男, 博士。主要研究方向:机器人技术、高等工程教育

通讯作者:
王扬, E-mail: wyang@buaa.edu.cn

中图分类号: V476.4;TH112.1
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- 被引次数: 0
出版历程
- 收稿日期: 2017-09-19
- 录用日期: 2017-10-20
- 网络出版日期: 2018-08-20

A kind of multistage transformable wheel for mobile robots

School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

Funds:

National Students'Innovation and Entrepreneurship Training Program 201610006059

More Information

Corresponding author: WANG Yang, E-mail: wyang@buaa.edu.cn

摘要

摘要:
变形车轮是提升轮式移动机器人在严苛地形越障能力的有效方案。然而传统单构型变形轮仅能适应特定路面环境，不能同时满足多种路面环境。利用一种平面多边形机构，将已有研究的轮式、扩展式和轮腿式构型相结合，提出了4种多段变形轮机构。同时，比较各构型的优缺点并针对较优方案进行杆长优化，提出相应的设计方法。根据不同路面情况，通过轮形间的有效切换，使得轮式移动机构在越障能力得到提升的同时，还能保证机构对不同种类地形的适应能力，达到提升机构通用性的目的。
- 轮式移动机器人 /
- 连杆机构设计 /
- 车轮设计 /
- 变形车轮 /
- 越障
Abstract:
The transformable wheel is an effective way to enhance the wheeled mobile robots' obstacle navigation ability in harsh terrain. However, traditional single-structure transformable wheels can only adapt to specific environment and unable to simultaneously satisfy the environments with varieties of harsh terrain. The four kinds of multistage transformable wheel were proposed, which combined a kind of planar polygon with round wheel type, expended wheel type and wheel-leg type structure. At the same time, four different structures' advantage and disadvantages were compared. Giving out the corresponding design method, the length of the linkage was also optimized to propose a better solution. Through the effective shifting between the structures depending on different terrain, wheeled mobile robots' obstacle navigation ability were improved while also the adaptability of different terrains were enhanced to broaden the versatility of the mechanism.
- wheeled mobile robot /
- linkage mechanism design /
- wheel design /
- transformable wheel /
- obstacle navigation

HTML全文

图 1 轮式机构变形要求

Figure 1. Deformation requirement of wheel mechanism

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图 2 多段变形轮方案1

Figure 2. Scheme 1 for multistage transformable wheel

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图 3 多段变形轮方案2

Figure 3. Scheme 2 for multistage transformable wheel

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图 4 多段变形轮方案3

Figure 4. Scheme 3 for multistage transformable wheel

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图 5 多段变形轮方案4

Figure 5. Scheme 4 for multistage transformable wheel

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图 6 杆长分析

Figure 6. Analysis of link length

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图 7 锁合机构工作原理

Figure 7. Working principle of lock mechanism

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图 8 变形分析

Figure 8. Analysis of transformational motion

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图 9 锁合机构分析

Figure 9. Analysis of lock mechanism

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图 10 MATLAB流程图

Figure 10. Flowchart for MATLAB

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图 11 R₁/R、R₂/R与α的关系

Figure 11. Relationship between R₁/R, R₂/R and α

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图 12 Solidworks零件模型

Figure 12. Part models designed by Solidworks

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图 13 搭载多段变形轮的移动机器人

Figure 13. Mobile robot with multistage transformable wheels

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