基于刚性折纸的新型可折展移动机器人折展原理分析及验证

doi:10.3901/JME.2022.23.075

机械工程学报 ›› 2022, Vol. 58 ›› Issue (23): 75-87.doi: 10.3901/JME.2022.23.075

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基于刚性折纸的新型可折展移动机器人折展原理分析及验证

杨富富^1,2, 卢帅龙¹, 宋亚庆^1,3, 张俊^1,2, 姚立纲^1,2

1. 福州大学机械工程及自动化学院福州 350108;
2. 福建省制造业数字化设计工程研究中心福州 350108;
3. 上海师范大学信息与机电工程学院上海 200234

收稿日期:2022-01-06 修回日期:2022-08-13 出版日期:2022-12-05 发布日期:2023-02-08
通讯作者: 杨富富(通信作者),男,1985年生,副教授,硕士研究生导师。主要研究方向为机构与机器人学、可展结构。E-mail:yangfufu@fzu.edu.cn。
作者简介:卢帅龙,男,1998年生,硕士研究生。主要研究方向为移动机器人。E-mail:n190227087@fzu.edu.cn。宋亚庆,女,1990年生,讲师。主要研究方向为机构与机器人学。E-mail:yqsong@shnu.edu.cn;张俊,男,1981年生,教授,博士研究生导师。主要研究方向为机构与机器人学。E-mail:zhang_jun@fzu.edu.cn。姚立纲,男,1964年生,博士,教授,博士研究生导师。主要研究方向为机器人机构及机械传动学、康复机器人、现代设计方法、复杂曲面建模及精确制造。E-mail:ylgyao@fzu.edu.cn
基金资助:
国家自然科学基金(51905101)、福建省自然科学基金(2019J01209)和福建省教育厅中青年教师教育科研项目(JAT200038)资助项目。

Analysis and Verification on Working Principle of a New Deployable Mobile Robot Based on Rigid Origami

YANG Fufu^1,2, LU Shuailong¹, SONG Yaqing^1,3, ZHANG Jun^1,2, YAO Ligang^1,2

1. School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350108;
2. Digital Design Center for Manufacturing of Fujian Province, Fuzhou 350108;
3. School of Information, Mechanical and Electrical Engineering, Shanghai Normal University, Shanghai 200234

Received:2022-01-06 Revised:2022-08-13 Online:2022-12-05 Published:2023-02-08

摘要/Abstract

摘要： 针对现有轮式机器人的本体相对固定无法适应复杂环境的问题，将自由度较少、折展比大的刚性折纸机构与高效的轮式运动相结合，提出一种新型可折展移动机器人机构，提升了移动机器人在复杂环境下的通过性能。对此机构折展原理进行分析，得到机器人三维尺寸与驱动角之间的关系，并通过建立简化模型，对动力学进行研究，得到不同位置的驱动力矩随驱动角的变化，从而得到最优驱动布置方案，之后通过运动协调算法研究，实现了机器人移动与折展协调运动，使其能够在复杂环境中高效运动。最后搭建物理样机以及控制系统，并通过试验验证机器人的移动及折展性能。结果表明，该可折展移动机器人具有三维折展比大，运动灵活高效的优点，可通过切换姿态适应复杂路径，有望在探测、检测以及救援等工程领域得到应用。

关键词: 刚性折纸, 可展移动机器人, 折展原理, 样机试验

Abstract: Aiming at the problem that the body of the existing wheeled robot is relatively fixed and cannot adapt to the complex environment, a new type of deployable mobile robot mechanism is proposed by introducing a rigid origami mechanism, which is with less degrees of freedom and large folding ratio, into efficient wheeled motion, and improves the passing performance in complex environments. The working principle analysis of this mechanism is carried out, and the relationship between the three-dimensional sizes of the robot and driving angles is obtained. By establishing a simplified model of the robot, its dynamics is carried out. Then, the change of the driving torque of different positions with the driving angle is obtained, which is used to optimize the driving arrangement scheme. Through a proposed algorithm, the compatible movement between the main body folding and the wheel motion is realized, so that the robot can move efficiently in the complex environment. Finally, a physical prototype and the control system are built, based on which the movement and folding performance are verified through two experiments. The results show that the robot could fit complex paths flexibly by switching its postures, and has the advantages of large deployment and folding ratio. Therefore, the robot owns the potential applications in some engineering fields such as detection, detection and rescue.

Key words: rigid origami, deployable mobile robot, working principle, prototype testing

中图分类号:

TP242

杨富富, 卢帅龙, 宋亚庆, 张俊, 姚立纲. 基于刚性折纸的新型可折展移动机器人折展原理分析及验证[J]. 机械工程学报, 2022, 58(23): 75-87.

YANG Fufu, LU Shuailong, SONG Yaqing, ZHANG Jun, YAO Ligang. Analysis and Verification on Working Principle of a New Deployable Mobile Robot Based on Rigid Origami[J]. Journal of Mechanical Engineering, 2022, 58(23): 75-87.

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基于刚性折纸的新型可折展移动机器人折展原理分析及验证

Analysis and Verification on Working Principle of a New Deployable Mobile Robot Based on Rigid Origami

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