基于张拉整体结构的可变形移动机器人的设计与实验研究OA北大核心CSTPCD

Mobile robots can replace people into dangerous environments such as fire and earthquake sites for terrain exploration and casualty search,but most robots are difficult to adapt to obstacles,right-angle walls,wall transitions and other complex terrain at the same time,and their control systems are relatively complex,requiring external energy input.Therefore,a deformable mobile robot with multiple functions,relatively simple control and no tethering was designed.Firstly,taking the 2-bar 4-cable tensioning integral structure as the basic unit,the body of the tensioning integral structure which could realize bending deformation was designed.Secondly,based on the analysis of adsorption force and structural parameters,the negative pressure adsorption device was designed and combined with the deformable body to form the overall structure of the robot.Then,the kinematic analysis of the robot was carried out,and the mapping relationship between the robot pose and the motor angle was obtained.Based on this,the robot's gaits of wall surface transition,traversing the narrow space from the wall surface and flipping up steps were planned.Finally,the robot prototype was developed,and the robot movement experiments were carried out according to different terrain,and the rationality of the robot gait planning was verified.The research results provide a certain reference value for the design and manufacture of multi-functional mobile robots.