具有可重构躯干的轮式移动机器人曲面运动特性分析

doi:10.3901/JME.260235

机械工程学报 ›› 2026, Vol. 62 ›› Issue (5): 168-181.doi: 10.3901/JME.260235

• 机器人及机构学 • 上一篇

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具有可重构躯干的轮式移动机器人曲面运动特性分析

林松^1,2, 戴建生^3,4, 宋屹峰¹, 王洪光¹, 袁兵兵¹

1. 中国科学院沈阳自动化研究所机器人与智能系统全国重点实验室沈阳 110016;
2. 中国科学院大学北京 100049;
3. 南方科技大学机器人研究院深圳 518055;
4. 伦敦国王学院机器人学中心伦敦WC2R 2LS英国

收稿日期:2025-08-13 修回日期:2025-12-26 发布日期:2026-04-23
作者简介:林松,男,1996年出生,博士研究生。主要研究方向为机构学与机器人学、可重构与变胞机构。E-mail:linsong@sia.cn
戴建生,男,1954年出生,博士,教授,博士研究生导师。主要研究方向为旋量理论和系统、变胞机构、可重构机构、抓举理论、康复机器人、医疗机器人和包装机器人。E-mail:jian.dai@kcl.ac.uk
宋屹峰(通信作者),男,1984年出生,博士,研究员。主要研究方向为高适应性机器人、机器人机构学及机器人性能分析优化。E-mail:songyifeng@sia.cn
王洪光,男,1965年出生,博士,研究员,博士研究生导师。主要研究方向为机器人机构学、机电一体化技术及特种机器人。E-mail:hgwang@sia.cn
袁兵兵,男,1994年出生,博士。主要研究方向为机器人机构学、机电一体化技术及特种机器人。E-mail:yuanbingbing@sia.cn
基金资助:
国家自然科学基金面上(52575042)、国家自然科学基金重点(52335003)和中国科学院沈阳自动化研究所基础研究计划(2023JC2K04、2023JC1K07)资助项目。

Analysis of Curved Surface Motion Characteristics of Wheeled Mobile Robots with Reconfigurable Trunks

LIN Song^1,2, DAI Jiansheng^3,4, SONG Yifeng¹, WANG Hongguang¹, YUAN Bingbing¹

1. State Key Laboratory of Robotics and Intelligent Systems, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016;
2. University of Chinese Academy of Sciences, Beijing 100049;
3. Institute for Robotics, Southern University of Science and Technology, Shenzhen 518055;
4. Centre for Robotics Research, King's College London, London WC2R 2LS, UK

Received:2025-08-13 Revised:2025-12-26 Published:2026-04-23

摘要/Abstract

摘要： 为解决传统轮式移动机器人适应变曲率曲面的难题，结合可重构机构具有多运动模式的优势，提出一种具有变曲率曲面适应能力的可重构轮式移动机器人。首先定义机器人轮腿支链运动平面，构建可重构躯干运动与磁轮姿态的映射关系，进而基于轮腿支链运动平面法矢量建立在四维空间中的姿态直纹面，利用高斯映射表征磁轮法矢量的夹角变化，揭示法矢量夹角与曲面曲率的变化规律，从理论上验证机器人的变曲率适应能力。进一步，基于有限位移旋量理论，分别建立可重构躯干和轮腿支链的运动旋量，结合磁轮在曲面上的滚动约束模型，构建曲面环境下机器人的约束运动学模型。最后，物理样机实验表明，机器人能通过调节可重构躯干姿态在变曲率曲面上灵活运动，验证了其曲面适应性与运动学模型的合理性。

关键词: 变曲率曲面, 可重构机构, 移动机器人, 有限位移旋量, 运动学建模

Abstract: To address the challenge of traditional wheeled mobile robots adapting to curved surfaces with variable curvatures, a reconfigurable wheeled mobile robot with the ability to adapt to variable-curvature surfaces by leveraging the advantage of reconfigurable mechanisms in having multiple motion modes is proposed. Firstly, the motion plane of the robot’s wheel-leg branch chain is defined, and the mapping relationship between the motion of the reconfigurable trunk and the attitude of the magnetic wheels is established. Furthermore, based on the normal vector of the motion plane of the wheel-leg branch chain, an attitude ruled surface in four-dimensional space is constructed. The Gaussian mapping is used to characterize the angle change of the normal vector of the magnetic wheels, revealing the variation law between the normal vector angle and the surface curvature, thus theoretically verifying the robot’s ability to adapt to variable curvatures. Moreover, based on the finite displacement screw theory, the motion screws of the reconfigurable trunk and the wheel-leg branch chain are established respectively. Combined with the rolling constraint model of the magnetic wheels on the curved surface, a constrained kinematic model of the robot in the curved surface environment is constructed. Finally, experiments on the physical prototype show that the robot can move flexibly on variable-curvature surfaces by adjusting the attitude of the reconfigurable trunk, verifying its surface adaptability and the rationality of the kinematic model.

Key words: variable curvature surface, reconfigurable mechanism, mobile robot, finite displacement screw, kinematic modeling

中图分类号:

TP242

林松, 戴建生, 宋屹峰, 王洪光, 袁兵兵. 具有可重构躯干的轮式移动机器人曲面运动特性分析[J]. 机械工程学报, 2026, 62(5): 168-181.

LIN Song, DAI Jiansheng, SONG Yifeng, WANG Hongguang, YUAN Bingbing. Analysis of Curved Surface Motion Characteristics of Wheeled Mobile Robots with Reconfigurable Trunks[J]. Journal of Mechanical Engineering, 2026, 62(5): 168-181.

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具有可重构躯干的轮式移动机器人曲面运动特性分析

Analysis of Curved Surface Motion Characteristics of Wheeled Mobile Robots with Reconfigurable Trunks

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