Mechanism Design and Simulation Analysis of Deformable Wheeled Mobile Robot

Peichao Cong; Junjie Liu; Xinjie Feng

doi:10.16578/j.issn.1004.2539.2021.08.011

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Mechanism Design and Simulation Analysis of Deformable Wheeled Mobile Robot

Design· Calculation | 更新时间：2022-11-10

- Mechanism Design and Simulation Analysis of Deformable Wheeled Mobile Robot
- Journal of Mechanical Transmission Vol. 45, Issue 8, Pages: 76-83(2021)
- 作者机构：
  
  1.广西科技大学机械与交通工程学院，广西柳州 545006
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.08.011
  CLC：
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丛佩超,刘俊杰,冯新杰.变形轮式移动机器人的机构设计与仿真分析[J].机械传动,2021,45(08):76-83.

Cong Peichao,Liu Junjie,Feng Xinjie.Mechanism Design and Simulation Analysis of Deformable Wheeled Mobile Robot[J].Journal of Mechanical Transmission,2021,45(08):76-83.
丛佩超,刘俊杰,冯新杰.变形轮式移动机器人的机构设计与仿真分析[J].机械传动,2021,45(08):76-83. DOI： 10.16578/j.issn.1004.2539.2021.08.011.

Cong Peichao,Liu Junjie,Feng Xinjie.Mechanism Design and Simulation Analysis of Deformable Wheeled Mobile Robot[J].Journal of Mechanical Transmission,2021,45(08):76-83. DOI： 10.16578/j.issn.1004.2539.2021.08.011.

摘要

针对当前变形轮式移动机器人的变形轮姿态调节、下台阶缓冲等问题，基于机械自锁原理，设计了一款新颖的变形轮式移动机器人。借助“推杆”与“平面螺旋副”间的自锁作用，设置升降式万向轮机构，有效地解决了变形轮“轮片回缩现象”，优化了系统的机构控制。该机器人具备可升降的万向轮机构，可有效保证系统的越障能力，降低下台阶过程中的冲击作用。通过对轮子半径、中心距等关键结构尺寸进行设计，提高了机器人的越障稳定性。仿真分析验证了设计方案的有效性。

Abstract

Aiming at the problems of the deformation wheel posture adjustment and lower step buffering of the current deformable wheel mobile robot， a novel deformable wheel mobile robot is designed based on the mechanical self-locking principle. With the self-locking effect between the "push rod" and the "plane screw pair"， the lifting universal wheel mechanism is set up， which effectively solves the "wheel plate retraction" phenomenon of the deformation wheel， and optimizes the mechanism of the system control. The robot has a lifting universal wheel mechanism， which can effectively guarantee the obstacle crossing ability of the system and reduce the impact effect in the process of descending the steps. Through the design of key structural dimensions such as wheel radius and center distance， the obstacle crossing stability of robot is improved. Finally， the effectiveness of the design scheme is verified by simulation analysis.

关键词

变形轮移动机器人轮片回缩越障能力

Keywords

Deformable wheelMobile robotWheel plate retractionObstacle crossing ability

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