Design and Simulation Analysis of an Eight-wheeled Climbing Obstacle Robot
-
摘要: 以移动机器人为研究对象，提出了一种以多组四杆机构为基础的八轮式爬楼越障机器人，机器人整个悬架结构呈对称式分布且载荷平台为整体式，控制和结构简单、具备承载能力且越障性能高。对机器人进行了整体方案设计、稳定角分析和越障仿真，对越障机构进行运动学分析以及优化得到了优化的轨迹图形，验证了机器人结构的合理性和稳定性，并通过样机实验验证了机器人承载和越障的稳定性，得到了机器人负载、越障高度和爬坡角度等基本性能参数。Abstract: Taking mobile robot as the research object, a kind of eight-wheeled climbing obstacle robot founded on multi-group four-bar linkage is proposed, which has simple control and mechanical structure, high bearing capacity and good obstacle-surmounting performance. The whole suspension structure of the robot is symmetrical and the load platform is integral. The optimized trajectory graph is obtained by kinematics analysis and optimizing the obstacle-surmounting mechanism. The overall scheme design, stability angle analysis and obstacle crossing simulation are carried out to verify the rationality and stability of the robot structure. The load bearing and stability of the robot was also verified by prototype test. The basic performance parameters of the robot are obtained, such as load capacity, obstacle crossing height and slope climbing angle.
-
Key words:
- obstacle robot /
- design /
- obstacle-surmounting mechanism /
- optimization /
- stability
-
表 1 设计变量初始值及变化范围
变量 初始值/mm 变化范围/mm l1 105 (90, 130) l2 180 (165, 210) l3 145 (135, 185) l4 120 (90, 130) l5 330 (310, 350) 
下载: 导出CSV
表 3 综合实验性能参数
技术指标 参数值 总重 13 kg 总体尺寸 0.98 m(长)×0.38 m(宽)×0.385 m(高) 速度 0.092 m/s 续航时间 4.5 h(24 V锂电池) 爬坡角度 45° 越障高度 0.16 m 负载 8 kg 轮径 0.11 m 通讯方式 无线网桥 搭载 高清摄像、倾角和超声波传感器
下载: 导出CSV
-
[1] 刘晓涛.面向楼宇环境的移动机器人行为规划技术的研究与应用[D].南京: 南京理工大学, 2016 http://cdmd.cnki.com.cn/Article/CDMD-10288-1017053382.htmLiu X T. Research and application of mobile robot behavior planning technology for building environment[D]. Nanjing: Nanjing University of Science and Technology, 2016(in Chinese) http://cdmd.cnki.com.cn/Article/CDMD-10288-1017053382.htm [2] 周琪涵, 郑嫦娥.移动机器人的发展现状及其创新设计初探[J].科技风, 2013(16):58, 60 http://d.old.wanfangdata.com.cn/Periodical/kjf201316049Zhou Q H, Zheng C E. The development of mobile robot and its preliminary exploration of innovative design[J]. The Wind of Science and Technology, 2013(16):58, 60(in Chinese) http://d.old.wanfangdata.com.cn/Periodical/kjf201316049 [3] Chen S C, Huang K J, Chen W H, et al. Quattroped:A leg-wheel transformable robot[J]. IEEE/ASME Transactions on Mechatronics, 2014, 19(2):730-742 doi: 10.1109/TMECH.2013.2253615 [4] 李鑫磊.面向非结构化地形的腿式机器人设计与研究[D].北京: 北京建筑大学, 2018 http://cdmd.cnki.com.cn/Article/CDMD-10016-1018158337.htmLi X L. Design and research of leg robot oriented in unstructured terrain[D]. Beijing: Beijing University of Civil Engineering and Architecture, 2018(in Chinese) http://cdmd.cnki.com.cn/Article/CDMD-10016-1018158337.htm [5] Wilcox B H, Litwin T, Biesiadecki J, et al. Athlete:A cargo handling and manipulation robot for the moon[J]. Journal of Field Robotics, 2007, 24(5):421-434 doi: 10.1002/rob.20193 [6] 丁亮.月/星球车轮地作用地面力学模型及其应用研究[D].哈尔滨: 哈尔滨工业大学, 2010 http://www.wanfangdata.com.cn/details/detail.do?_type=degree&id=D269156Ding L. Wheel-soil interaction terramechanics for lunar/planetary exploration rovers: modeling and application[D]. Harbin: Harbin Institute of Technology, 2010(in Chinese) http://www.wanfangdata.com.cn/details/detail.do?_type=degree&id=D269156 [7] 高亚东.履带机器人动力学特性研究[D].上海: 上海海洋大学, 2017 http://cdmd.cnki.com.cn/Article/CDMD-10264-1017854719.htmGao Y D. Research on dynamic characteristics of tracked robot[D]. Shanghai: Shanghai Ocean University, 2017(in Chinese) http://cdmd.cnki.com.cn/Article/CDMD-10264-1017854719.htm [8] 罗建国, 韩建友.基于拓扑维度的机构自由度分析与选型设计[J].机械设计, 2016, 33(4):29-33 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=jxsj201604006Luo J G, Han J Y. Type selection design and DOF analysis of mechansim based on toplogical dimensionality[J]. Journal of Machine Design, 2016, 33(4):29-33(in Chinese) http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=jxsj201604006 [9] Winterholler A, Roman M, Hunt T, et al. Design of a high-mobility low-weight lunar rover[C]//Proceedings of the 8th International Symposium on Artifical Intelligence, Robotics and Automation in Space. Munich, Germany: SAIRAS, 2005 https://www.researchgate.net/publication/228879127_Design_of_a_High-Mobility_Low-weight_Lunar_Rover [10] 刘方湖, 马培荪, 曹志奎, 等.五轮铰接式月球机器人的运动学建模[J].机器人, 2001, 23(6):481-485, 492 http://d.old.wanfangdata.com.cn/Periodical/jqr200106001Liu F H, Ma P S, Cao Z K, et al. Kinematic modeling of a five-wheel articulated lunar robot[J]. Robot, 2001, 23(6):481-485, 492(in Chinese) http://d.old.wanfangdata.com.cn/Periodical/jqr200106001 [11] Bertrand R, Lamon P, Michaud S, et al. The SOLERO rover for regional exploration of planetary surfaces[C]//EGS-AGU-EUG Joint Assembly. Nice, France: EGU, 2003: 11850. https://www.researchgate.net/publication/37441220_The_SOLERO_Rover_for_Regional_Exploration_of_Planetary_Surfaces [12] Estier T, Crausaz Y, Merminod B, et al. An innovative space rover with extended climbing abilities[C]//Proceedings of the 4th International Conference and Exposition on Robotics in Challenging Environments. Albuquerque, New Mexico: American Society of Civil Engineers, 2000 [13] 邱雪松, 邓宗全, 胡明.月球探测车可展开式悬架的设计分析[C]//中国宇航学会深空探测技术专业委员会第二届学术会议论文集.北京: 中国空间技术研究院总体部, 2005: 436-439 http://cpfd.cnki.com.cn/Article/CPFDTOTAL-LGCD200511001077.htmQiu X S, Deng Z Q, Hu M. Design and analysis of expandable suspension for lunar rover[C]//Proceedings of the Second Academic Conference of the Professional Committee of Deep Space Exploration Technology, China Aerospace Association. Beijing: CAST, 2005: 436-439(in Chinese) http://cpfd.cnki.com.cn/Article/CPFDTOTAL-LGCD200511001077.htm [14] 陈百超.月球车悬架研究及动力学仿真[D].长春: 吉林大学, 2006 http://cdmd.cnki.com.cn/Article/CDMD-10183-2006093793.htmChen B C. Study on suspension structure for lunar locomotive and dynamics simulation[D]. Changchun: Jilin University, 2006(in Chinese) http://cdmd.cnki.com.cn/Article/CDMD-10183-2006093793.htm [15] 尚建忠.空间探测机器人移动机构及系统研究[D].武汉: 华中科技大学, 2006 http://cdmd.cnki.com.cn/article/cdmd-10487-2008022116.htmShang J Z. Research on the locomotion mechanism and system of space exploring robot[D]. Wuhan: Huazhong University of Science and Technology, 2006(in Chinese) http://cdmd.cnki.com.cn/article/cdmd-10487-2008022116.htm -
点击查看大图
图(11) / 表(3)
计量
- 文章访问数: 441
- HTML全文浏览量: 539
- PDF下载量: 77
- 被引次数: 0
