轮-履双模式自适应机器人的设计与参数分析

摘要

基于被动自适应机理的研究,提出了一种具有轮履双运动模式的移动机器人结构.该机器人能根据环境的约束产生被动变形并转换运动模式,跨越高于自身高度的障碍.通过建立移动机器人模型,对影响其变形的各机构参数进行了分析,并通过优化算法将各参数优化.最后对机器人变形过程进行仿真,验证了各机构参数的合理性.%Concept of a wheel-track robot was proposed with passive self-adaptive ability.When confronted with constraints like stairs or trenches,the robot could autonomously switch its locomo-tion mode by transforming track configuration.Thus,obstacles higher than the robot could be climbed.The wheel-track robot was driven by two separate servo systems to adapt with different ter-rains.Having built a model of the robot,the parametric analysis and optimization were conducted.At last,the simulation was performed and it shows that the results accord with the designing purposes.