Structural Design and Obstacle-surmounting Performance Research of Wheel-track Hybrid Robots

Zhao Jiahui; Chen Minghui; Liang Zhiyuan; Li Qingdu

doi:10.16578/j.issn.1004.2539.2023.09.020

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Structural Design and Obstacle-surmounting Performance Research of Wheel-track Hybrid Robots

Development·Application | 更新时间：2023-09-18

- Structural Design and Obstacle-surmounting Performance Research of Wheel-track Hybrid Robots
- Journal of Mechanical Transmission Vol. 47, Issue 9, Pages: 145-150(2023)
- 作者机构：
  
  1.上海理工大学健康科学与工程学院，上海 200082
  2.上海理工大学光电信息与计算机工程学院，上海 200082
  3.上海理工大学机器智能研究院，上海 200082
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2023.09.020
  CLC：
- Published：15 September 2023，
  
  Received：13 July 2022，
  
  Revised：24 July 2022，
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赵佳辉,陈明惠,梁志远等.轮履复合式机器人的结构设计与越障性能研究[J].机械传动,2023,47(09):145-150.

Zhao Jiahui,Chen Minghui,Liang Zhiyuan,et al.Structural Design and Obstacle-surmounting Performance Research of Wheel-track Hybrid Robots[J].Journal of Mechanical Transmission,2023,47(09):145-150.
赵佳辉,陈明惠,梁志远等.轮履复合式机器人的结构设计与越障性能研究[J].机械传动,2023,47(09):145-150. DOI： 10.16578/j.issn.1004.2539.2023.09.020.

Zhao Jiahui,Chen Minghui,Liang Zhiyuan,et al.Structural Design and Obstacle-surmounting Performance Research of Wheel-track Hybrid Robots[J].Journal of Mechanical Transmission,2023,47(09):145-150. DOI： 10.16578/j.issn.1004.2539.2023.09.020.

摘要

为了稳定发挥轮履复合式机器人的最佳越障性能，研制了一种能够根据环境切换多种运动模式的新型轮履复合式机器人。该机器人可以通过独立旋转机体和摆臂切换直立运动和履带运动模式，同时可以通过摆臂的转动大幅度地调节机器人的重心位置，具有较好的越障性能。在对机器人进行步态规划和运动机理分析的基础上，对跨越台阶这种典型运动过程进行了运动学和动力学分析，验证了机器人模式切换的可行性，并计算得到了机器人能够攀爬的台阶高度的最大理论值。最后，根据计算获得的理论数值，利用仿真软件对机器人台阶攀爬过程进行仿真，验证了计算数值的准确性和机器人的越障性能。

Abstract

In order to stably exert the best obstacle-surmounting performance of the wheel-track compound robot

a new wheel-track compound robot that can switch multiple motion modes according to the environment is developed. The robot can switch between the upright motion and the crawler motion mode

and the position of the center of gravity of the robot can be greatly adjusted by the rotation of the swing arm

which has better obstacle-surmounting performance. On the basis of gait planning and motion mechanism analysis of the robot

kinematics and dynamics analysis of the typical step crossing motion process are carried out

which verifies the feasibility of the robot mode switching

and calculates the maximum theoretical value of the step height that the robot can climb. Finally

using the simulation software

according to the theoretical values obtained by the calculation

the simulation test of the robot's step climbing process is carried out. The results verify the accuracy of the calculated values and the obstacle-surmounting performance of the robot.

关键词

轮履复合式机器人越障性能运动学动力学

Keywords

Wheel-track hybrid robotObstacle-surmounting performanceKinematicsDynamics

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