多模式两轮移动机器人的设计与运动分析

doi:10.3901/JME.2019.23.083

机械工程学报 ›› 2019, Vol. 55 ›› Issue (23): 83-92.doi: 10.3901/JME.2019.23.083

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多模式两轮移动机器人的设计与运动分析

何妍颖, 李晔卓, 武建昫, 刘兴杰, 姚燕安

北京交通大学机械与电子控制工程学院北京 100044

收稿日期:2019-01-31 修回日期:2019-06-05 出版日期:2019-12-05 发布日期:2020-02-18
通讯作者: 李晔卓(通信作者),男,1988年出生,博士后。主要研究方向为机构与机器人学。E-mail:11121434@bjtu.edu.cn
作者简介:何妍颖,女,1994年出生。主要研究方向为机构与机器人学。E-mail:16121298@bjtu.edu.cn;武建昫,男,1989年出生,博士研究生。主要研究方向为机构与机器人学。E-mail:13116343@bjtu.edu.cn;刘兴杰,女,1982年出生,博士研究生。主要研究方向为机器人学。E-mail:xingjie8002@163.com;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:
科工局稳定支撑资助项目（HTKJ2019KL502017）。

Design and Mobility Analysis of a Multi-mode Two-wheel Mobile Robot

HE Yanying, LI Yezhuo, WU Jianxu, LIU Xingjie, YAO Yanan

School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044

Received:2019-01-31 Revised:2019-06-05 Online:2019-12-05 Published:2020-02-18

摘要/Abstract

摘要： 提出一种具有可变形车身的多模式两轮移动机器人。以平面6R单环闭链连杆机构为车身，通过控制其变形运动，使机器人具有折展模式和三种移动模式。在折展模式下，折叠状态时用于储运和携带，展开状态时启动工作模式。在两轮移动模式下，车身变形形成车尾支撑实现稳定移动，通过调整轮距和车尾长度以增强其地面适应性。在攀爬越障模式下，通过车身变形至类爪状以增强对障碍物的攀附作用，实现台阶越障。在类履滚动模式下，通过杆件在地面交替铺展支撑以增加与地面接触面，实现在不平整或松软路面上的滚动。对所设计构型进行自由度分析和驱动配置。建立运动学模型，分析机器人运动参数并对其进行步态规划。建立动力学仿真模型，验证预设步态合理性。研制一台样机，对其折展模式和三种移动模式进行可行性验证。

关键词: 多模式, 两轮移动机器人, 变形机构, 多地形适应能力

Abstract: A novel multi-mode two-wheel mobile robot with a chassis based on the planner single-loop 6R linkage mechanism is proposed. According to the motion control of the deformation of chassis, four modes can be generated. The deployable mode, where it can be retracted for transportation and expanded for working; the two-wheel mode where the tail length and wheel base can be adjusted to get a better adaptability for complex terrain; the quasi-track rolling mode for rough and soft road surface and the climbing mode for obstacle crossing. The design and analysis of mechanism is given. Based on kinematics calculation, the mobile parameters are analyzed and the motion gaits are planned. The simulation model is established and the correctness of theoretical analysis is proved. A prototype is fabricated to verify the workability of the deployable mode and the three mobile modes.

Key words: multi-mode, two-wheel mobile robot, deployable structure, obstacle crossing

中图分类号:

TP242

何妍颖, 李晔卓, 武建昫, 刘兴杰, 姚燕安. 多模式两轮移动机器人的设计与运动分析[J]. 机械工程学报, 2019, 55(23): 83-92.

HE Yanying, LI Yezhuo, WU Jianxu, LIU Xingjie, YAO Yanan. Design and Mobility Analysis of a Multi-mode Two-wheel Mobile Robot[J]. Journal of Mechanical Engineering, 2019, 55(23): 83-92.

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多模式两轮移动机器人的设计与运动分析

Design and Mobility Analysis of a Multi-mode Two-wheel Mobile Robot

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