一种新型腿轮混合机器人及其轮滑运动规划

摘要

A leg-wheel hybrid robot with passive wheel is presented.By retracting in a special workspace,the walking and rolling of the robot can switch automatically.It has the characteristics of no additional switch motor,lightweight and simple mechanical configuration.Rolling characteristics under nonholononmic constraint are analyzed,and its motion equations with little fluctuation are deduced.Based on the equations,the motion plan method for a given linear and rotational velocity is put forward,and the motion functions of each joint are deduced.The principle for choosing motion parameters is also proposed.Through combined simulation with Matlab and Adams,the feasibility of the planned result is confirmed.Experiments with a real robot further support the result.%设计了一种新型的从动轮式腿轮混合机器人,通过特定空间收放的方法实现了步行与轮滑的自动切换,具有无切换电机、重量轻、结构简单等特点。分析了机器人在非完整约束条件下的轮滑特性,建立了速度波动较小的运动约束方程,据此提出了机器人以确定线速度和角速度轮滑的运动规划方法,得出了各关节的运动函数,分析了运动参数选取的原则。Matlab和Adamds联合仿真验证了规划结果的可行性,实体机器人上的实验进一步支持了研究结果。