多模式自适应差动履带机器人

为提高履带机器人对复杂地形的通过能力与反应速度,基于差动轮系的原理,提出一种新型欠驱动式履带机器人。分析了机器人在松软、崎岖、平坦等地形下履带式、摇臂腿式、轮式等移动方式。描述了机器人通过台阶的4种情况,通过建立动力学模型,计算出4种情况下所需的驱动扭矩与障碍物高度、机器人履带模块尺寸之间的关系。利用ADAMS进行越障动力学仿真,得到机器人越障过程扭矩变化曲线。制作一台样机,进行攀爬台阶实验,验证了其自适应越障的可行性。理论分析与实验结果表明:该机器人针对地形变化自适应改变移动方式的能力提高了反应速度,多种越障方式有效增强了通过能力。

Multimode Adaptable Differential Tracked Mobile Robot

To improve the responsive and the obstacle climbing capability of tracked robot, a new underactuated tracked robot is proposed,which is based on differential gear. Crawler, rocker leg, wheel and other mobile modes are analyzed when robot is in soft, rugged and flat terrain. Four modes of overcoming vertical wall for the robot are described. The relationship between driving torque and vertical wall height, and the relationship between driving torque and size of the robot are calculated by building dynamics model. The kinematics and dynamics simulations in ADAMS are carried out, and torque curve of the obstacle crossing process is obtained. The principle prototype is established to perform the obstacle climbing experiments. Theoretical analysis and experimental results show that the robot can change the mode of movement and increase the responsive, and many ways to overcome obstacles can enhance obstacle climbing capability of the robot.