机器人2015，Vol.37Issue(5)：538-545,8.DOI:10.13973/j.cnki.robot.2015.0538
一种新型轮腿式移动机器人的参数设计与实验研究
Parameter Design and Experiment of a Novel Wheel-legged Mobile Robot
摘要
Abstract
In order to meet the requirements of exploration operations in complex and unknown environments for mobile robots, a novel wheel-legged mobile robot is proposed by utilizing the high over-obstacle capacity of three-spoke wheel-leg mechanisms and the good damping capacity of arc-shaped wheel-leg mechanisms. Taking stairs-climbing as the over-obstacle task and design objective, the non-slip condition between the robot wheel-leg and the stairs is analyzed from the perspective of statics, and then the necessary condition of the novel robot climbing the stairs is obtained. A trajectory for climbing stairs efficiently is designed from the perspective of geometry, and then the parameters of the robot wheel-leg are obtained before investigating the influence of the wheel-leg parameters on the impact resistance and endurance abilities. Finally, the software simulation and stairs-climbing experiment are carried out to verify the validity of the presented research.关键词
移动机器人/轮腿结构/爬楼梯/参数设计Key words
mobile robot/wheel-leg/stair-climbing/parameter design分类
信息技术与安全科学引用本文复制引用
田润,宋轶民,孙涛,向旭..一种新型轮腿式移动机器人的参数设计与实验研究[J].机器人,2015,37(5):538-545,8.基金项目
教育部博士点基金(2012003211003). （2012003211003）
