链式腿轮移动平台的设计与运动分析

IF 1.9 4区 计算机科学 Q3 ENGINEERING, INDUSTRIAL Industrial Robot-The International Journal of Robotics Research and Application Pub Date : 2022-07-19 DOI:10.1108/ir-02-2022-0046
Xiang-Ming Fan, Q. Ruan
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引用次数: 1

摘要

目的利用腿式平台的地形适应能力和轮式平台的快速移动能力的优势,设计一种腿轮式移动越障平台,并分析不同移动方式的可行性和机动性。设计/方法/方法该平台由六个腿轮单元组成。每个单元都有一个链式机械腿,在腿的末端有一个驱动轮。平台有两种运动模式:腿式运动模式和腿轮复合运动模式。腿式模式通过曲柄电机驱动实现高机动性,腿轮复合模式通过曲柄电机和俯仰连杆电机驱动实现越障能力,通过轮毂电机实现高效率。进行了不同模式下的步态规划,并分析了其越障能力。结果基于对链腿轮平台的运动学分析和步态规划结果,验证了两种运动模式具有高移动性和高效越障能力。通过样机实验验证了设计的可行性和移动平台的性能。结果表明,该平台具有良好的越障能力。本文提出的工作是一个新颖的探索,设计一个封闭链腿机构和一个驱动轮串联。闭式链腿机构具有高腿升程和单自由度的特点,使平台获得了越障能力。
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Design and locomotion analysis of a close-chain leg-wheel mobile platform
Purpose To take the advantages of terrain-adaptive capability of legged platform and fast-moving ability of wheeled platform, this paper aims to design a leg-wheel mobile platform for obstacle surmounting and analyze the feasibility and locomotivity of different moving modes. Design/methodology/approach The platform consists of six leg-wheel units. Each of the units has a close-chain mechanical leg and an actuated wheel at the end of the leg. The platform moves with two modes: legged mode and leg-wheel composite mode. The legged mode achieves high mobility driven by crank motors, while the leg-wheel composite mode achieves obstacle-surmounting ability actuated by crank motors and pitch link motors and obtains high efficiency with the hub motors. The gait planning in different modes has been carried out and the obstacle-surmounting capacity has been analyzed. Findings Based on the results of kinematic analysis and gait planning of the close-chain leg-wheel platform, the high mobility and efficiency obstacle-surmounting ability are demonstrated with the two movement modes. The feasibility of the design and the performance of the mobile platform is verified with the prototype experiment. The results of this paper show that the platform possesses good obstacle-surmounting capability. Originality/value The work presented in this paper is a novel exploration to design a close-chain leg mechanism and with an actuated wheel in series. The close-chain leg mechanism has the advantages of high leg lift and single degree of freedom characteristics, which makes the platform obtain the ability of obstacle-surmounting.
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来源期刊
CiteScore
4.50
自引率
16.70%
发文量
86
审稿时长
5.7 months
期刊介绍: Industrial Robot publishes peer reviewed research articles, technology reviews and specially commissioned case studies. Each issue includes high quality content covering all aspects of robotic technology, and reflecting the most interesting and strategically important research and development activities from around the world. The journal’s policy of not publishing work that has only been tested in simulation means that only the very best and most practical research articles are included. This ensures that the material that is published has real relevance and value for commercial manufacturing and research organizations. Industrial Robot''s coverage includes, but is not restricted to: Automatic assembly Flexible manufacturing Programming optimisation Simulation and offline programming Service robots Autonomous robots Swarm intelligence Humanoid robots Prosthetics and exoskeletons Machine intelligence Military robots Underwater and aerial robots Cooperative robots Flexible grippers and tactile sensing Robot vision Teleoperation Mobile robots Search and rescue robots Robot welding Collision avoidance Robotic machining Surgical robots Call for Papers 2020 AI for Autonomous Unmanned Systems Agricultural Robot Brain-Computer Interfaces for Human-Robot Interaction Cooperative Robots Robots for Environmental Monitoring Rehabilitation Robots Wearable Robotics/Exoskeletons.
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