多模式空间6R地面移动机构

doi:10.3901/JME.2019.23.038

机械工程学报 ›› 2019, Vol. 55 ›› Issue (23): 38-47.doi: 10.3901/JME.2019.23.038

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多模式空间6R地面移动机构

刘超^1,2, 巢鑫迪^1,2, 姚燕安^1,2

1. 北京交通大学机械与电子控制工程学院北京 100044;
2. 载运工具先进制造与测控技术教育部重点实验室(北京交通大学) 北京 100044

收稿日期:2019-01-24 修回日期:2019-08-28 出版日期:2019-12-05 发布日期:2020-02-18
作者简介:刘超,女,1979年出生,副教授。主要研究方向为机构与机器人学。E-mail:lclc@bjtu.edu.cn;巢鑫迪,男,1994年出生,硕士研究生。主要研究方向为机构与机器人学。E-mail:16121294@bjtu.edu.cn;姚燕安,男,1972年出生,教授。主要研究方向为机构与机器人学。E-mail:yayao@bjtu.edu.cn
基金资助:
中央高校基本科研业务费专项资金（2019JBM046）和山西省重点实验室基金（XJZZ201702）资助项目。

Multi-mode Spatial 6R Ground Mobile Mechanism

LIU Chao^1,2, CHAO Xindi^1,2, YAO Yanan^1,2

1. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044;
2. Key Laboratory of Vehicle Advanced Manufacturing, Measuring and Control Technology(Beijing Jiaotong University), Ministry of Education, Beijing 100044

Received:2019-01-24 Revised:2019-08-28 Online:2019-12-05 Published:2020-02-18

摘要/Abstract

摘要： 提出一种新型空间单闭链F1C1（约束力F和约束力偶C）约束型6R（转动副）机构，并应用其研制一种地面移动机器人。基于单环运动链构型综合方法，构造出空间单闭链单自由度F1C1约束型6R机构，应用螺旋理论进行自由度和奇异位置分析，结合地面移动需求构造地面移动机器人，进行了杆件形状的设计，规划驱动电动机布局方案，完成运动学和移动机理分析，规划类蠕动、平面4R转向和内翻三种移动模式，分析越障性能，揭示其突出的折展特性。制作样机，验证了多模式空间6R地面移动机构方案和运动规划的可行性。

关键词: 空间6R机构, 单闭链机构, 多模式移动

Abstract: A new single-loop spatial F1C1 (one constraint force F and constraint couple C) constrained 6R (the revolute joint) mechanism is proposed and used as a ground mobile mechanism. The single-loop spatial F1C1 constrained 6R mechanism is constructed based on the type synthesis of single-loop kinematic chains theory. The degree of freedom and singularity of the mechanism has been investigated by the screw theory. Considering the ground movement requirements, the links' configurations are designed and the layout of motors is planned. The kinematics and mobile gait are analyzed. Three different mobile modes, including the creeping, plane 4R turning and varus mode, are proposed. The obstacle ability and outstanding folding characteristics are analyzed respectively. Finally, a prototype is made to verify that the idea and motion planning of the multi-mode spatial 6R ground mobile mechanism are feasibility.

Key words: spatial 6R mechanism, single-loop mechanism, multi-mode movement

中图分类号:

TP242

刘超, 巢鑫迪, 姚燕安. 多模式空间6R地面移动机构[J]. 机械工程学报, 2019, 55(23): 38-47.

LIU Chao, CHAO Xindi, YAO Yanan. Multi-mode Spatial 6R Ground Mobile Mechanism[J]. Journal of Mechanical Engineering, 2019, 55(23): 38-47.

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多模式空间6R地面移动机构

Multi-mode Spatial 6R Ground Mobile Mechanism

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