Self-adaptive Deformable Wheel-legged Mobile Mechanism
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摘要: 提出一种可自适应切换移动模式的轮腿式移动机构，通过欠驱动切换设计以提高移动机构在复杂地形的移动能力。该移动机构无需驱动单元即可在类轮模式和轮腿模式之间进行模式切换，减小了变形驱动模块的复杂度以及机构的整体质量。该机构在平坦路面上机构以类轮模式行走，遇到障碍时旋转车身可切换成轮腿模式通过。对该机构在两种运动模式下直行、转弯、越障等过程进行理论分析并建立动力学仿真模型，得到并验证机构转弯半径函数及最大越障高度等。制作一台理论样机验证其可行性。理论分析与实验结果表明，该机构具有传统轮式机构行驶稳定性以及腿式机构高越障性，且自适应切换可显著提高其地面通过能力。Abstract: This paper presents a wheel-legged mobile mechanism which can switch motion modes with self-adaption. The under-actuated switching design improves the ability of the mobile mechanism to cross complex terrains. The mobile mechanism can switch between wheel mode and wheel-leg mode without actuators, which reduces the complexity of the switching mechanism and its overall quality. The mobile mechanism executes its wheel mode on a flat road, and when encountering obstacles, the rotating body can be switched to wheel-leg mode. The motions in two modes such as straight-line moving and direction switching, obstacle crossing and other processes are analyzed theoretically. Dynamic simulation models are established to obtain and verify the mobile mechanism's turning radius function and maximum obstacle-crossing height. A prototype was made to verify its feasibility. Theoretical analysis and simulation results show that, the mobile mechanism has the travel stability of the traditional wheeled mechanism and the high obstacle-crossing property of a legged mechanism. The adaptive switching can significantly improve the obstacle-crossing ability of the mobile mechanism.
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Key words:
- wheel-legged mobile mechanism /
- self-adaption /
- under-actuation
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表 1 参数及其含义
参数 含义 r/mm 转弯半径 B/mm 左右车轮轮距 ωT/(rad·s-1) OT瞬时角速度 ωR/(rad·s-1) 右侧车轮角速度 ωL/(rad·s-1) 左侧车轮角速度 vT/(m·s-1) 点OT相对于地面的速度 vR/(m·s-1) 右侧车轮外侧线速度 vL/(m·s-1) 左侧车轮外侧线速度 M/(N·m) 电机转矩 R/mm 类轮模式下半径 l/mm 轮腿模式下半径 h/mm 障碍物高度 β/(°) 越障轮腿和地面之间夹角 θ/(°) 车身和地面之间夹角 α/(°) Ni和地面之间夹角 G/N 车体自身重力 fi/N 轮腿受障碍物摩擦力 Ni/N 轮腿受障碍物支持力 l1/mm 前后轮轮距 OT 前轮左右车轮的轮心连线中点 μ 动摩擦系数 O1 左侧车轮轮心 O1 右侧车轮轮心 
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表 2 机构尺寸表
参数 数值 机构总质量/kg 1.9 单一车轮质量/kg 0.2 机构尺寸/mm 500×300×200 电机输出转矩/(N·mm) 3 100 车轮半径R/mm 70 车轮展开半径l/mm 117 行驶速度/(m·s-1) 0.22
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