可变形轮腿复合机器人优化设计与越障性能

doi:10.3901/JME.2025.11.045

摘要/Abstract

摘要： 为提高小型移动机器人在复杂环境中的适应能力，提出了一种具有被动变形车轮的新型轮腿复合机器人，继承了传统轮式机器人运动平稳和控制简捷特性，车轮变形后变径比可达2.3，依靠车轮与障碍地形之间的约束力即可实现车轮构型的被动转变。对车轮变形和复原过程进行了受力分析，并以变形能力和越障高度为目标，采用多目标优化设计方法优化了车轮结构参数。在被动变形车轮的基础上，机器人可根据车轮与地形间摩擦状态变化或通过控制前后车轮相对转速实现轮式与腿式运动模式的主被动切换。通过建立机器人越障力学模型，研究了机器人参数对越障稳定性的影响规律，并实验验证了机器人可借助车轮变形实现较高障碍的跨越。

关键词: 移动机器人, 变形车轮, 结构设计, 参数优化, 越障分析

Abstract: To improve the adaptability of small mobile robots in complex environments, an innovative wheel-leg hybrid robot with passive transformable wheels is proposed, which retains the steady motion and simple control of conventional wheeled robots. The wheel’s configuration can transforme passively relying on the constraint force between the wheel and obstacle terrain with a transformation ratio of more than 2.3. A force analysis is conducted during the wheel’s transformation and restoration process, and multi-objective optimization design method is used to optimize the wheel’s structural parameters with the goal for transformation capacity and maximum obstacle climbing height. Based on the passively transformable wheels, the robot can realize active and passive switching between wheeled and legged mode based on changes in the friction state between the wheels and terrain, or by controlling the relative speed of the front and rear wheels. By establishing a mechanical model for robot obstacle climbing, the influence of robot parameters on obstacle climbing stability is studied, and the results show the robots can climb relatively high obstacle relying on wheel’s transformation.

Key words: mobile robot, transformable wheel, structure design, parameter optimization, obstacle climbing analysis

中图分类号:

TG242

史羽胜, 张明路, 张小俊, 焦世龙, 焦鑫, 李满宏. 可变形轮腿复合机器人优化设计与越障性能[J]. 机械工程学报, 2025, 61(11): 45-56.

SHI Yusheng, ZHANG Minglu, ZHANG Xiaojun, JIAO Shilong, JIAO Xin, LI Manhong. Optimization Design and Obstacle Climbing Performance Research of a Transformable Wheel-leg Hybrid Robot[J]. Journal of Mechanical Engineering, 2025, 61(11): 45-56.

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链接本文: http://www.cjmenet.com.cn/CN/10.3901/JME.2025.11.045

http://www.cjmenet.com.cn/CN/Y2025/V61/I11/45

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