Research of a Wheel-legged Obstacle Crossing Robot

Wang Yueqin; Tan Xiaolan; Ban Xiang; Li Dingyu; Yue Shidi

doi:10.16578/j.issn.1004.2539.2024.01.019

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Research of a Wheel-legged Obstacle Crossing Robot

Development·Application | 更新时间：2024-12-13

- Research of a Wheel-legged Obstacle Crossing Robot
- Journal of Mechanical Transmission Vol. 48, Issue 1, Pages: 128-134(2024)
- 作者机构：
  
  北方工业大学机械与材料工程学院，北京 100144
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2024.01.019
  CLC：
- Published：15 January 2024，
  
  Received：28 October 2022，
- 稿件说明：
移动端阅览
王月钦,谭晓兰,班翔等.一种轮腿式越障机器人的研究[J].机械传动,2024,48(01):128-134.

Wang Yueqin,Tan Xiaolan,Ban Xiang,et al.Research of a Wheel-legged Obstacle Crossing Robot[J].Journal of Mechanical Transmission,2024,48(01):128-134.
王月钦,谭晓兰,班翔等.一种轮腿式越障机器人的研究[J].机械传动,2024,48(01):128-134. DOI： 10.16578/j.issn.1004.2539.2024.01.019.

Wang Yueqin,Tan Xiaolan,Ban Xiang,et al.Research of a Wheel-legged Obstacle Crossing Robot[J].Journal of Mechanical Transmission,2024,48(01):128-134. DOI： 10.16578/j.issn.1004.2539.2024.01.019.

摘要

针对移动机器人在复杂多变地形环境下实现高机动性、强越障等需求，提出了一种被动变形式的轮腿式越障机器人设计方案。该机器人的变形轮转换过程是由外力操作得到的，因此，不需要任何驱动器，减少了机构的复杂性。在完成机器人整体三维建模的基础上，对变形轮的结构、原理及受力情况进行了分析；以变形过程中的触发转矩和展开前后半径之比为指标进行结构优化；分析机器人变形阶段受力情况，并对机器人平台的相关参数进行调整以实现稳定越障；使用Adams软件对机器人变形、越障过程进行运动学仿真，并制作物理样机对整机结构设计的合理性进行了实验验证。

Abstract

To meet the requirement of mobile robots to achieve high mobility and strong obstacle-crossing in complex and variable environment

a design scheme of passive transformable wheel-legged obstacle-crossing robot is proposed. The transformable wheel conversion process of the robot is obtained by external force operation

so no additional driver is required

which reduces the complexity of the mechanism. Firstly

based on the three-dimensional modeling of the whole robot

the structure

principle and force of the transformable wheel are analyzed

and then the structure optimization is carried out by taking the ratio of the triggering torque during the transformation process and radius before and after unfolding as the index. Afterwards

the force condition during the transformable stage of the robot is analyzed and the relevant parameters of the robot platform are adjusted to achieve stable obstacle crossing. Finally

kinematics simulation of transformation and obstacle-crossing process of the robot is carried out by using the Adams software

physical prototype is made and rationality of the structure design of the whole machine is verified by experiment.

关键词

移动机器人被动变形轮腿越障Adams仿真

Keywords

Mobile robotPassive transformationWheel-legged obstacle crossingAdams simulation

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