一种新型可变形轮腿式机器人的设计与分析

doi:10.3901/JME.2022.03.065

机械工程学报 ›› 2022, Vol. 58 ›› Issue (3): 65-74.doi: 10.3901/JME.2022.03.065

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一种新型可变形轮腿式机器人的设计与分析

刘超^1,2, 谭稀岑^1,2, 姚燕安^1,2, 付志洋^1,2

1. 北京交通大学机械与电子控制工程学院北京 100044;
2. 载运工具先进制造与测控技术教育部重点实验室(北京交通大学) 北京 100044

收稿日期:2021-05-27 修回日期:2021-11-09 出版日期:2022-02-05 发布日期:2022-03-19
通讯作者: 姚燕安(通信作者),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
作者简介:刘超,女,1979年出生,副教授。主要研究方向为机构与机器人学。E-mail:lclc@bjtu.edu.cn;谭稀岑,男,1996年出生,硕士研究生。主要研究方向为机构与机器人学。E-mail:18121318@bjtu.edu.cn;付志洋,男,1997年出生,硕士研究生。主要研究方向为机构与机器人学。E-mail:19121294@bjtu.edu.cn
基金资助:
中央高校基本科研业务费专项资金（2019JBM046）资助项目。

Design and Analysis of a Novel Deformable Wheel-legged Robot

LIU Chao^1,2, TAN Xicen^1,2, YAO Yanan^1,2, FU Zhiyang^1,2

1. School of Mechanical and Electronic Control Engineering, Beijing Jiaotong University, Beijing 100044;
2. Key Laboratory of Vehicle Advanced Manufacturing, Measuring and Control Technology(Beijing Jiaotong University), Ministry of Education, Beijing 100044

Received:2021-05-27 Revised:2021-11-09 Online:2022-02-05 Published:2022-03-19

摘要/Abstract

摘要： 提出一种新型可变形轮腿式地面移动机器人，采用相同动力源实现轮式和腿式两种移动模式。将Chebyshev机构与平行四边形机构结合，提出了具有两种单自由度运动形式的单环闭链2RP3R变胞机构，进行了构型设计和运动学分析。将2个单环闭链变胞机构构造成轮腿式移动模块，进而构建一种可变形轮腿式机器人。机器人具有256种运动形式，这些运动形式均采用相同的动力源，实现多足切换，通过不同高度的空间，在曲柄与机架共线时进行移动模式切换，实现倾倒后恢复。然后，分析了机器人的移动性能，得到腿式模式下的平均越障能力和两种模式下的平均速度比。建立虚拟样机模型，完成了机器人平地行走、越障、转向和模式切换仿真试验。研制一台样机，进行了两种模式下的移动试验，验证了机器人方案的可行性。

关键词: 可变形, 轮腿式机器人, 单环闭链机构, 变胞机构

Abstract: A novel deformable wheel-legged ground mobile robot is proposed, which moves in wheeled and legged modes by the same power. Firstly, a single-loop closed-chain 2RP3R metamorphic mechanism is proposed by combining Chebyshev mechanism with parallelogram mechanism, which realizes two single-freedom motion forms. The configuration design and kinematics analysis are carried out. Secondly, a novel deformable wheel-legged robot is constructed by wheel-legged mobile modules which are composed of two single-loop closed-chain metamorphic mechanisms. The robot has 256 motion forms which are achieved through the same power. It can switch between multi-legged states and cross through the space at different heights. The mode-switching is carried out when the crank is collinear with the rack so that the recovery from overturning is achieved. Thirdly, the mobility of the robot is analyzed, and the average obstacle-crossing ability in the legged mode and the average speed ratio in the two modes are obtained. Lastly, the virtual prototyping model is established and the simulations of level-moving, obstacle-crossing, steering and mode-switching are completed. A prototype is fabricated, and the feasibility of the idea is verified by carrying out moving experiments in the two modes.

Key words: deformable, wheel-legged robot, single-loop closed-chain mechanism, metamorphic mechanism

中图分类号:

TP242

刘超, 谭稀岑, 姚燕安, 付志洋. 一种新型可变形轮腿式机器人的设计与分析[J]. 机械工程学报, 2022, 58(3): 65-74.

LIU Chao, TAN Xicen, YAO Yanan, FU Zhiyang. Design and Analysis of a Novel Deformable Wheel-legged Robot[J]. Journal of Mechanical Engineering, 2022, 58(3): 65-74.

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一种新型可变形轮腿式机器人的设计与分析

Design and Analysis of a Novel Deformable Wheel-legged Robot

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