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履带可变形机器人越障性能研究
Alternative TitleOn Obstacle-surmounting Performance for a Transformable Tracked Robot
朱岩; 王明辉; 李斌; 王聪
Department机器人学研究室
Source Publication机器人
ISSN1002-0446
2015
Volume37Issue:6Pages:693-701
Indexed ByEI ; CSCD
EI Accession number20155101700109
CSCD IDCSCD:5575704
Contribution Rank1
Funding Organization“十二五”国家科技支撑计划(2014BAK12B01)
Keyword履带可变形机器人 越障性能 运动学 动力学
Abstract将椭圆定理应用于履带机器人构型设计,研制了履带连续张紧且履带长度保持不变的履带可变形机器人.该机器人重心位置可以通过摆臂转动进行较大幅度的调节,具有较好的越障性能.为充分了解机器人的越障能力,对机器人跨越台阶和沟壑两种典型障碍的运动过程进行了分析.在机器人跨越障碍运动机理的基础上,对越障过程中的关键状态进行了运动学和动力学分析,根据实际情况,选择几何条件、打滑以及稳定性作为约束条件,得到了机器人能跨越的最大障碍的理论值.最后,建立机器人仿真平台,根据理论计算得到的障碍值,对攀爬台阶和跨越沟壑进行仿真实验,并进一步进行了样机实验,验证了机器人的越障能力.
Other AbstractBy applying the ellipse theory to the configuration design of the tracked robot, a transformable tracked robot is designed whose tracks can be continuously tensioned while the track length unchanged. The position of the robot centre-ofgravity can be adjusted in a large range by swinging the swing-arm, so the robot has good obstacle-surmounting performance. To comprehensively understand the obstacle-surmounting performance of the robot, the processes of climbing the stair and crossing the gully are analyzed. Based on the movement mechanism of obstacle-surmounting, the key states of the robot are analyzed in terms of kinematics and dynamics. According to the actual situation, the theoretical values of the highest stair and the longest gully that the robot can surmount are obtained by taking the geometrical conditions, slip and stability as the constraint conditions. Then, a simulation platform is set up to test the stair-climbing and gully-crossing performances on the basis of theoretical values of the obstacles, further the prototype experiment is carried out, and the obstacle-surmounting ability is verified finally.
Language中文
Citation statistics
Cited Times:3[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/17442
Collection机器人学研究室
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院大学
Recommended Citation
GB/T 7714
朱岩,王明辉,李斌,等. 履带可变形机器人越障性能研究[J]. 机器人,2015,37(6):693-701.
APA 朱岩,王明辉,李斌,&王聪.(2015).履带可变形机器人越障性能研究.机器人,37(6),693-701.
MLA 朱岩,et al."履带可变形机器人越障性能研究".机器人 37.6(2015):693-701.
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