复杂地形多功能轻型机器人设计与研究

李银河; 田亚锋

doi:10.16578/j.issn.1004.2539.2024.06.012

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复杂地形多功能轻型机器人设计与研究

设计计算 | 更新时间：2024-06-19

- 复杂地形多功能轻型机器人设计与研究
- Design and Research of Multifunctional Lightweight Robots in Complex Terrain
- 机械传动 2024年48卷第6期页码：76-82
- 作者机构：
  
  西北机电工程研究所，陕西咸阳 712099
- 作者简介：
  
  李银河(1992— )，男，河南开封人，硕士，助理工程师；主要研究方向为武器装备与技术；1025995795@qq.com。
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2024.06.012
  中图分类号：
- 纸质出版日期：2024-06-15，
  
  收稿日期：2023-03-12，
  
  修回日期：2023-03-25，
扫描看全文
李银河,田亚锋.复杂地形多功能轻型机器人设计与研究[J].机械传动,2024,48(06):76-82.

Li Yinhe,Tian Yafeng.Design and Research of Multifunctional Lightweight Robots in Complex Terrain[J].Journal of Mechanical Transmission,2024,48(06):76-82.
李银河,田亚锋.复杂地形多功能轻型机器人设计与研究[J].机械传动,2024,48(06):76-82. DOI： 10.16578/j.issn.1004.2539.2024.06.012.

Li Yinhe,Tian Yafeng.Design and Research of Multifunctional Lightweight Robots in Complex Terrain[J].Journal of Mechanical Transmission,2024,48(06):76-82. DOI： 10.16578/j.issn.1004.2539.2024.06.012.

摘要

随着当今自然灾难、野外战争的频繁发生，如何能在野外复杂的地形下搜寻目标和运输补给具有重大意义。然而，自然灾难和野外战争的环境恶劣，搜寻目标及运输补给的过程中往往面临野外地形复杂、搜寻难度大、搜寻成本高等系列问题，从而制约着搜寻作业的顺利进行。对此，提出了一种具有爬行、轮式移动、腿足跨越的复杂地形多功能轻型机器人。对其进行了结构设计；结合其设计模型，对其运动的最大步长、最大倾斜角度、升降范围等性能参数进行了计算分析，对其承载能力进行了应力应变仿真；最后，制作工程样机对其性能进行了验证。结果表明，设计的复杂地形多功能轻型机器人可以实现爬行、轮式移动、腿足跨越3种功能，其跨越障碍的最大倾斜角可以达到53°，其穿越障碍的最大高度可以达到4.1 cm。

Abstract

With the frequent occurrence of natural disasters and field wars nowadays

it is of great significance to search for targets and transport supplies in the complex terrain in the field. However

the environment is harsh for natural disasters and field warfare

the process of searching targets and transport supplies is often faced with a series of problems

such as complex terrain

difficulty and high cost

which restrict the smooth progress of search operations. In order to solve these problems

a multifunctional lightweight robot with capabilities of crawling

wheeled movement

and overcoming obstacles in complex terrain has been proposed

and the mechanical structure design is conducted. Combined with its design model

the maximum stride length of its movement

the maximum tilt angle

lifting range and other performance parameters are calculated and analyzed

and the stress and strain simulation is carried out. Finally

the engineering prototype is made to verify its performance. The research results show that the lightweight robot can realize three functions: crawling

wheeled movement and overcoming obstacles. The maximum inclination angle of the robot over obstacles can reach 53°

and its maximum height through obstacles can reach 4.1 cm.

关键词

爬行轮式移动腿足跨越多功能

Keywords

CrawlingWheeled movementOvercome obstaclesMultifunctional

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