• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

›› 2011, Vol. 47 ›› Issue (5): 1-10.

• 论文 •    下一篇

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具有自适应能力轮—履复合变形移动机器人的开发

李智卿;马书根;李斌;王明辉;王越超   

  1. 中国科学院沈阳自动化研究所机器人学国家重点实验室;中国科学院研究生院;立命馆大学理工学部
  • 发布日期:2011-03-05

Development of a Transformable Wheel-track Robot with Self-adaptive Ability

LI Zhiqing;MA Shugen;LI Bin;WANG Minghui;WANG Yuechao   

  1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences Graduate School, Chinese Academy of Sciences Department of Technology, Ritsumeikan University
  • Published:2011-03-05

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摘要： 针对非结构环境中路面软硬相间、平坦与崎岖并存的地形特征，结合轮式、履带式移动机构的运动优点，提出并研制一种对非结构环境具有自适应能力的轮—履复合变形移动机器人(NEZA-I)。NEZA-I由控制箱体单元和两个相同的可变形轮—履复合(Transformable wheel-track, TWT)移动模块组成。每个TWT模块在一个驱动力作用下能以轮式和履带式两种运动模式在复杂路面上运动，也能根据地面约束力变化而改变运动模式(即轮—履互换)和调整运动姿态(即改变履带几何形状)。对移动机构平台的设计方法不仅可提高驱动电动机的使用效率，也可简化对机器人的控制。试验表明，NEZA-I可通过调整自身机构以合理的运动模式及姿态通过复杂路面环境，具有较好的环境自适应性和越障性能，验证了该移动机构系统设计的合理性。

关键词: 机构设计, 可变形履带, 轮—履复合型机器人, 自适应移动机构

Abstract: To access to the complex and unpredictable environment where the ground is soft and hard alternately, a transformable wheel-track (TWT) robot with a self-adaptive mobile mechanism, named as NEZA-I is proposed and developed. It has the merits of both the wheel mechanism and the track mechanism. The robot NEZA-I consists of a control system unit and two symmetric TWT units. Driven only by one servo motor, each TWT unit can efficiently cross over the complex terrain by wheel mode or by track mode, and can also change its locomotion mode and adjust its posture according to the constraint of the environment. The proposed mechanism can improve the motor service efficiency and simplify the control of robot. Experiments show that the robot can efficiently cross over complex terrain by changing autonomously the locomotion mode and posture, and has prominent adaptability to environment and obstacle-surmounting ability. The results prove the rationality of the design of the mobile mechanism system.

Key words: Adaptive mobile mechanism, Mechanical design, Transformable track, Wheel-track robot

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