摘要
为发挥四履带双摆臂机器人的最佳越障性能,本文从运动学的角度,在固定双履带机器人越障机理的基础上,分析了四履带双摆臂机器人克服台阶、斜坡、沟道等典型障碍的运动机理及其最大越障能力,重点研究了四履带双摆臂机器人正向和反向两种攀越台阶方式的运动机理及其最大越障能力.以CUMT-II型煤矿探测机器人样机为例,绘制了机器人仰角、摆臂摆角与跨越台阶高度的3维关系图,以及斜坡坡度与摆臂摆角关系曲线,并求出了相应的最大越障能力的理论值,与实验室实测数据进行了对比分析.本文推导出机器人的最佳越障性能及对应的质心和摆臂的位置,可为机器人越障时质心位置的控制提供理论依据.
For performing the best obstacle-surmounting capability of four-track robot with two swing arms, obstaclesurmounting mechanism of the four-track robot with two swing arms and its capabilities of sturmounting obstacles, including step and slope-climbing, and channel-crossing, are analyzed from the viewpoint of kinematics based on the obstaclesurmounting mechanism of the fixed two-track robot. Its motion mechanism and maximal obstacle-surmounting capability of step-climbing forward and backward are mainly analyzed. Taking CUMT-Ⅱ coal mine exploring robot prototype as an example, three dimensional relationship diagrams of the step height, the elevation angle and arms＇ swing angle are drawn and the relation curves of slope gradients and the swing arms＇ swing angles are drawn. The theoretical value of maximal obstacle-surmounting capabilities of the prototype are obtained and compared with the test results. And the best obstaclesurmounting performance and the corresponding centroid and swing arm positions are deduced. This paper would provide theoretical basis for centroid position control in obstacle-surmounting process.
出处
《机器人》
EI
CSCD
北大核心
2010年第2期157-165,共9页
Robot
基金
国家863计划资助项目(2006AA04Z208)
关键词
履带式机器人
摆臂
质心
越障
攀越台阶
tracked robot
swing arm
centroid
obstacle-surmounting
step-climbing
