阶梯攀爬机器人结构及控制方案设计

针对阶梯攀爬机器人工作过程中的楼梯攀爬及避障问题,对阶梯攀爬机器人机械结构、机器人阶梯攀爬方式、差速驱动方式下机器人运动方程进行了分析,对阶梯攀爬机器人行驶过程中障碍物检测、避障控制策略进行了研究;基于模糊控制原理,建立了阶梯攀爬机器人模糊避障规则,提出了一种基于MC9S12XS128单片机以及超声波传感器的阶梯攀爬机器人障碍物检测、避障及楼梯攀爬控制系统,并利用所研制的阶梯攀爬机器人样机进行了机器人避障、楼梯攀爬测试。测试结果表明,基于变形轮与行星轮相结合的阶梯攀爬机器人机构可以实现阶梯攀爬机器人避障及攀爬楼梯的功能,控制系统可以准确、迅速判断障碍物以及楼梯所处位置,并依据所建立模糊避障规则完成避障及楼梯攀爬任务。     

曲柄摇杆式爬楼梯装置设计

针对星轮式爬升机构稳定性指标r值较大,影响运行稳定这一问题,提出了一种曲柄摇杆式爬楼梯装置。研究了曲柄摇杆机构杆长对运动轨迹的影响,并对装置进行设计,使其r值减小了22%;应用SolidWorks软件对装置进行建模及爬楼过程仿真,得到其空载和施加载荷时的运行轨迹图,确定了方案的可行性;并进行样机测试,验证了装置的运行稳定性。研究结果说明,曲柄摇杆式爬楼梯装置的设计思路是正确的,对于开发类似产品有借鉴意义。     

Wheelchair.q, a motorized wheelchair with stair climbing ability

The paper deals with Wheelchair.q, a concept for a stair climbing wheelchair capable of moving in structured and unstructured environments, climbing over obstacles and going up and down stairs.The design of the wheelchair, consisting of a frame, a seat and a four-bar linkage mechanism that connects frame and seat, is presented.The four-bar linkage moves and rotates the chair to prevent the wheelchair from overturning and to guarantee a comfortable posture to the passenger during different operations. The kinematic synthesis of the linkage mechanism is discussed using an algebraic method. When the wheelchair faces an obstacle such as a step or a stair, it can passively change locomotion mode, from rolling on wheels to walking on rotating legs, thanks to its self-adaptive locomotion units. The function of the locomotion unit is described and modeled using kinematic equations. The locomotion unit requires only one motor, for both wheeled and legged locomotion. Tests on a scale prototype were conducted in order to evaluate the effectiveness of this locomotion.     

Novel design of a small field robot with multi-active crawlers capable of autonomous stair climbing

Mobile robots often encounter complex obstacles during their operation, not the least of which are stairs. Suitable mechanical structures and adequate control algorithms are both equally important in stair climbing. This paper proposes a novel design for a multi-active crawler robot (MACbot) capable of autonomous stair climbing. The MACbot has four track modules for extended mobility and a recovery arm that facilitates self-rescue capabilities. By adopting the proposed smart clutch mechanism, the MACbot can provide a variety of motions with a minimum number of motors. This paper presents a static analysis for the mechanical design and details the stability analysis for an autonomous stair climbing algorithm. A series of experiments show that the MACbot can autonomously climb stairs reasonably well.     

采用弹簧和行星齿轮传动的阶梯攀登机器人的开发

本文提出的自推进移动机构可攀登阶梯但无传感器或判别算式.开发的腿一轮可动机器人采用弹簧和行星齿轮能适应障碍和克服重力.弹簧作用于前轮攀登一级,而行星齿轮则具有滚动、行走和跳跃的功能,从而使通过阶梯和障碍.已经进行了详细的设计,并设计了具有大量仿真结果的试验模型.同时还通过攀登高阶梯楼梯的试验,证实了设计的试验模型的合理...     

一种椭圆轮式轮椅爬楼梯辅助装置的设计

设计了一款椭圆轮式轮椅爬楼梯辅助装置,通过锁止轮毂与普通轮椅底架固定连接并套在其轮轴上。采用胎面装附有牙型花纹的防滑橡胶皮的椭圆轮爬楼和越障,装置使用马达作动力。同时对椭圆轮的特性和椭圆轮在台阶上的运动轨迹做了相应的说明。经过性能分析,设计的轮椅爬楼梯辅助装置满足功能要求,并具有爬楼梯安全稳定、操作简单、方便控制等特点。     

基于联合运动规划的可变形履带机器人在线翻越楼梯控制方法

楼梯是室内环境中最典型的障碍物之一,其对执行废墟搜救任务的机器人的机动性能提出较高要求。针对机器人翻越楼梯过程中的攀爬能力和稳定性问题,提出一种基于实时状态预测的在线翻越楼梯控制方法,该方法不仅适用于常规机器人,同样适用于异构模块化可变形履带机器人。在对机器人翻越过程中的步态进行联合运动规划基础之上,利用传感器完成楼梯参数辨识,同时对机器人翻越楼梯的基本过程进行阶段划分,并进行运动学和准静态力学分析,针对翻越楼梯过程的各阶段建立模块联合运动协调准则、防止倾翻准则和防止干涉准则,实现机器人翻越楼梯运动的实时在线预测控制。基于可变形履带机器人Amoeba-II平台的翻越楼梯试验验证基于联合运动规划的在线翻越楼梯控制方法的有效性。     

平面五杆机构连架杆转角空间分析

根据杆长之间的关系 ,把五杆机构分为三种类型 ,指出每种类型的两连架杆在转动过程各自所能转动的角度范围 ,给出求解平面五杆机构连架杆转角空间的数值算法。     

新型八轮月球车悬架的研制

提高整车质量在各轮上分配的均匀性,可提高驱动电动机驱动功率的一致性;提高悬架被动适应松软复杂地形能力,可提高其稳定性和越障能力。因此,对八轮月球车被动适应地形的悬架进行拓扑结构综合,确定两种可用的八轮悬架构型,并对这两种悬架构型进行双侧车轮同时跨越垂直障碍、适应曲面地形和车体运动平稳性仿真分析。根据分析结果,确定适合的八轮月球车悬架构型,针对这种八轮月球车移动系统的组成和工作原理进行了论述。利用ADAMS软件对悬架结构参数进行优选,在此基础上进行悬架和差动装置的结构设计,并加工出原理样机。对原理样机进行爬坡、越障等性能试验,试验结果表明：各轮载荷分布较均匀,适应地形能力强,能够爬上坡度为22°的松软沙地,越过200 mm高的障碍。     

Innovative stair climber using associated wheels

The study proposes an innovative and completely new but low-cost configuration of a platform that can easily climb stairs. This platform serves the purpose of a chassis. Different versions, such as staircase-climbing wheelchair or staircase-climbing trolley for material transferring, can be derived depending on the structure built on the platform. The driving wheels have a shape that completely matches with the profile of the steps. Complex components are eliminated. Thus, this platform is conveniently applicable in the configurations useful for climbing staircases.     

Transmission optimization of spatial 4-link mechanisms

The design of plane crank-and-rocker linkages with given rocker swing angle, corresponding crank rotation and optimum force transmission are well known problems in kinematic synthesis. This investigation is concerned with the transmission optimization of the skew crank-and-rocker linkage and the skew slider-crank mechanism. The algebraic loci of the moving joints are used to express the lengths of the moving links as a function of a single parameter, the optimum value of which is obtainable as a constrained minimization problem involving 1-parameter scanning. The results are presented in tables as well as in design charts.     

基于推钢机机构的摇杆本体有限元分析

某中板厂板坯长度从1700mm增至2000mm,推钢机摇杆结构需作相应修改。采用ANSYS软件,建立了推钢机机构的整体模型,通过在各铰接处设置接触单元的方法,计算摇杆的强度。计算结果表明,摇杆强度满足使用要求。     

离散化正弦电压作用下的压电驱动器蠕变特性

研究了具有不同离散化台阶的正弦电压对压电陶瓷驱动器蠕变大小以及蠕变起始时间的影响,采用新的数学模型分析了低频下压电陶瓷驱动器的蠕变特性。首先,对0.025 Hz/0V~60 V正弦电压输入信号进行了5种倍数关系的离散化,分析了蠕变与输入电压的关系以及蠕变与输入台阶电压压差的关系。然后,按照提出的数学模型,在符合文中所述两种准则前提下,对蠕变起始时间进行了预测。实验结果表明,上升段蠕变变化范围最大出现在台阶电压等于47.7 V时,而下降段蠕变变化范围最大出现在台阶电压等于12.3 V;相比于20个台阶,320个台阶对应的上升段最大蠕变增长量下降了899.5%,而在下降段最大蠕变的这一比值增大到了936.9%。使用所提公式对蠕变起始时间进行预测,得到当台阶电压为12.3 V时,20、40、80、160、320个台阶的蠕变起始时间分别在0.959、0.911、0.813、0.664和0.016 ms以后。蠕变与输入电压以及蠕变与输入台阶电压差值都是迟滞关系,并且台阶蠕变随着台阶数量的增加而减小。不同离散化的电压信号改变了蠕变的起始时间,台阶电压数量越多,蠕变起始时间越早。     

基于传力条件的具有急回特性的四杆机构设计

明确提出了以传动角作为基本设计参数设计具有急回特性的四杆机构的原理和方法 ,并为综合考虑运动条件和动力条件的四杆机构解析法设计提供了一个范例     

Structure synthesis and statics analysis of a foldable stair

This paper proposes a foldable stair that can be deployed for use and folded for conservation and investigates the geometry and statics of the structure. It not only has the moving flexibility of a mechanism but also has the high stiffness and high strength of statically indeterminate structures. The primary linkage is a deployable scissor-like element which forms the staircase after expanding. This paper starts with the analysis of the geometry of planar four- and six-bar mechanisms and processes to synthesize the foldable stair and then investigates its statics. The paper further investigates redundant inner forces of every link based on the second Castigliano theorem, develops a foldable stair model, assembles and manufactures. Working experiments verify the theoretical results and the outstanding advantages over the general fixed stairs.     

可调节型曲柄摇杆连续轨迹生成机构的优化综合

提出了利用机架杆方向结构误差优化综合可调节型曲柄摇杆连续轨迹生成机构的方法。在确定了可调节型曲柄摇杆机构的轨迹柔性的基础上,基于机架杆方向结构误差建立机构的优化综合模型,采用改进遗传算法获取综合结果。机架杆方向结构误差不仅计算便利,且能有效反映出实际生成的轨迹曲线与预期的理想轨迹曲线间的差异,避免了在两轨迹曲线上选取对应比较点的困难。改进遗传算法保证了获得全局最优解。综合实例结果表明了本方法的有效性。     

机械爬楼装置的传动系统方案研究

轨道式机械爬楼装置是在楼梯上安装轨道,使轮椅等装置沿轨道实现上下楼的运动。根据楼梯扶手的形状不同,轨道有弯轨和直轨之分,而且直轨和弯轨的轨道截面形状多种多样,与之配合的传动系统也各不相同。本文将对国内外直轨和弯轨形式爬楼梯装置的传动系统及其原理进行分析和研究。     

Optimal design of hand-carrying rocker-bogie mechanism for stair climbing

Transporting heavy packages while climbing stairs can be a very difficult or dangerous task. In situations where this task is frequently required such as construction sites, workers would use equipment such as a back rack for convenience, but still it becomes a difficult task as the weight increases. In this paper, we propose a stair climbing hand-carrying cart based on the rocker-bogie mechanism. We conduct an optimal design of the kinematic variables of the rocker-bogie mechanism for stable stair climbing using Taguchi methodology. Fluctuations and a tilted angle during stair climbing are considered to formulate the objective function. Three different shapes of typical stairs are selected as user conditions to determine a robust optimal solution. The results are verified by experiments using a testing set-up of three stair profiles, and the experimental results are compared with simulation. We expect that the results of this research can be applied to stair climbing robot design.     

适用于人力车的摇杆驱动机构

适用于人力车的摇杆驱动机构用摇杆代替了传统人力车的曲柄,乘骑者踏动脚蹬时,摇杆绕中轴上下摆动,摆角小于100°,不存在驱动力臂为零的死点,而且可根据车辆载荷人工调整驱动力臂的长度,改变驱动力矩的大小和车辆的行走速度,具有很强的爬坡能力.如果爬坡不顺利时,车会停在坡道上而不后退,既能充分发挥人力的作用,又大大提高了乘骑的安全性.     

实现空间约束轨迹离散点的平面连杆机构设计

提出了一种平面四连杆机构的设计方法,通过自寻刚体合理的轨迹离散点,以四位置刚体导引铰链四杆机构的设计为理论基础,利用数值分析软件MATLAB得到圆心曲线以及与各连杆长度的关系图。结合实例的设计与分析,构造符合要求的四连杆机构。运用动力学分析软件ADAMS对该机构进行运动学分析,得到刚体关键点的轨迹曲线,验证了四连杆机构满足空间约束的要求。