工程设计学报2025，Vol.32Issue(5)：634-645,12.DOI:10.3785/j.issn.1006-754X.2025.05.107
一种可变径多模式移动并联机器人的设计与分析
Design and analysis of a variable-diameter multi-mode mobile parallel robot
摘要
Abstract
Aiming at the problem of insufficient folding and unfolding ability and multi-mode adaptability of mobile robots in complex unstructured environments,a variable-diameter multi-mode mobile parallel robot composed of a variable-diameter platform and a 4-URU parallel mechanism is proposed.Firstly,a variable-diameter platform with multiple radial telescopic rods was designed based on the cam mechanism characteristics,and its structure and force characteristics were analyzed.Then,combining the telescopic characteristics of the variable-diameter platform,a multi-mode mobile parallel robot was constructed with the 4-URU parallel mechanism as the main body.The degrees of freedom of the 4-URU parallel mechanism were analyzed by spiral theory,and the degrees of freedom and switching methods under different motion modes were obtained.On this basis,the ZMP(zero moment point)theory was used to evaluate the stability of the robot in various modes.Finally,the obstacle-crossing performance and stability of the robot in narrow-slit crossing,single-loop rolling and dual-wheel obstacle crossing modes were verified through ADAMS simulation and prototype experiments.The results show that the designed mobile parallel robot has good folding and unfolding ability and multi-mode adaptability,which can provide a new solution for the design and application of multi-functional mobile robots in complex environments.关键词
折展能力/多模式/移动并联机器人/ADAMS仿真Key words
folding and unfolding ability/multi-mode/mobile parallel robot/ADAMS simulation分类
机械工程引用本文复制引用
刘玉航,张春燕,田正雨,刘正阳..一种可变径多模式移动并联机器人的设计与分析[J].工程设计学报,2025,32(5):634-645,12.基金项目
国家重点研发计划"工业软件"重点专项(SQ2024YFB3300124) （SQ2024YFB3300124）
