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轮腿式机器人兼具轮式的移动速度快和腿式的越障能力强的优势,是新型移动机器人的发展方向。提出了一种基于3-PUU并联机构的轮腿式移动机器人,其具有并联机构的结构简单、刚度大、承载能力强等优势。对3-PUU轮腿式移动机器人的腿式行走步态进行了分析,阐述了轮腿切换原理以及轮式模式下的转向原理。通过重心计算,分析了该机器人在路面上运动的稳定性,确定了最大步长。利用三次样条插值法推导出了平台的运动轨迹方程,并在Matlab环境下进行仿真,得到平台的位移、速度、加速度变化规律。仿真结果表明,该机器人可实现连续稳定的行走,可用于煤矿井下等危险环境的救援任务。 相似文献
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提出了一种新型轮腿配合式管道机器人的设计思想.机器人通过轮式驱动和腿式驱动二者的相互配合,兼有轮式机器人移动速度快及腿式机器人环境适应能力强等优点.对机器人结构及组成进行了设计,运用重心偏移的方法保证机器人腿式行进时不发生侧翻.对整个机器人的控制系统进行设计,包括主机控制系统的单片机硬件设计、移动载体和CCD摄像头控制系统的软件结构设计. 相似文献
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轮腿式自平衡机器人兼具轮式的高速高效性和足式的地面适应性,在面对非结构化地形时可以进行跳跃越障。按照腿部自由度可将其分为单自由度式和二自由度式,其中单自由度式轮腿自平衡机器人结构更简单、质量更轻、控制难度更低。但在跳跃轨迹规划问题上,一方面单自由度腿部结构对髋关节出力需求更高,采用双质量块线性弹簧模型轨迹规划方法能够达到的最大越障高度有限;另一方面机器人在高度调整过程中整体质心会产生x向位移,对跳跃的准确性与稳定性造成影响。针对单自由度式轮腿自平衡机器人跳跃问题展开研究,首先提出了基于腾空动力学模型的轮部控制算法,使机身俯仰姿态在跳跃过程中始终可控,进而保证了跳跃的稳定性。之后提出了基于双质量块非线性弹簧模型的跳跃轨迹规划方法,相比基于线性弹簧模型的规划方法具有轨迹规划更加灵活,对髋关节出力要求更低等优点;然后进一步利用轮部在腾空过程中对机身俯仰角的控制效果,设计了一种机器人原地跳远方法,使机器人可以在更短的起跳时间和起跳距离下达到相同的跳跃距离;最后建立了单自由度式轮腿自平衡机器人三维简化模型及其运动学、单腿静力学以及腾空动力学模型,并通过Simulink-Adams联合仿真验证了轨... 相似文献
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从动轮式复合机构机器人滚行时的动力学建模研究 总被引:1,自引:0,他引:1
综合轮式和步行机器人的特点 ,提出了从动轮式腿轮复合机构机器人的设想。然后 ,使用广义 L agrange方程推导了系统的动力学特性方程 ,得出机器人直线滑行速度表达式 ,在理论上证明了该设想是可行的。同时 ,使用 EXCEL 97进行了系统运动速度仿真 ,研究了其直线滑行时的动力学性能 ,讨论了系统摩擦力的确定方法 ,得出一些相关结论 相似文献
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车轮是人类历史上最伟大的发明之一,在交通运输领域得到了广泛的研究与应用。将车轮这种特殊的运动副引入到传统并联机器人构型设计中,可以有效拓展并联机器人的工作空间。基于全方位轮的关联矩阵描述,将含车轮的串联支链构型综合问题转化为含车轮的关联矩阵求解问题,综合出两类含车轮的无约束串联支链,并分析了两类串联支链的受力稳定性。提出了两种六自由度轮式并联机器人新构型,分析了基于全向轮的轮式并联机器人的自由度属性,并成功研制出了一台实验样机。六自由度轮式并联机器人融合了移动机器人和传统并联机器人的优势,不仅具有移动效率高、移动范围广的优点,且具备在局部小范围内进行高精度六自由度操作的能力,可广泛应用于大型精密设备制造过程中的加工、运输、调姿和装配等工业操作。 相似文献
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燃气动力弹跳机器人的设计与试验研究 总被引:2,自引:0,他引:2
以可燃混合气体为动力源,设计了一种燃气动力的弹跳机器人,包括弹跳驱动器和轮式运动机构。弹跳驱动器采用双活塞燃烧室结构及磁力锁紧机构,有效减小驱动器体积,有利于驱动器复位和废气排除。轮式运动机构包括车身和蜂窝车轮,车身作为驱动器载体,蜂窝车轮用于机器人落地缓冲。对车轮的径向、周向和切变模量进行等效计算,采用铁木辛柯梁理论对车轮进行静力分析,计算结果与试验数据吻合;利用LS-DYNA对车轮落地碰撞进行仿真,分析了落地冲击能量消耗。对机器人的弹跳运动进行规划,弹跳越障试验表明机器人可直接越过或跃上障碍物,验证了机器人的弹跳运动能力。该弹跳机器人的研究为提高地面移动机器人的未知复杂地形适应能力提供了一种可行的技术方案。 相似文献
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The scheme of the propulsion unit with walking mechanism for a wheeled planetary rover is considered. The walking mechanism permits to convert the chassis in a transport position, displacement of rover’s center of mass so as to optimize the load on motor wheels. In wheeled motion the walking mechanism realize function of the active suspension for adaptation of the locomotion system to the surface features. On friable soils where wheeled locomotion is difficult or impossible, wheel-walking mode improves trafficability. 相似文献
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Wheelchair.q, a motorized wheelchair with stair climbing ability 总被引:1,自引:0,他引:1
Giuseppe QuagliaAuthor Vitae Walter Franco Author VitaeRiccardo Oderio Author Vitae 《Mechanism and Machine Theory》2011,46(11):1601-1609
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. 相似文献
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Kinematics of wheeled mobile robots on uneven terrain 总被引:1,自引:0,他引:1
This paper deals with the kinematic analysis of a wheeled mobile robot (WMR) moving on uneven terrain. It is known in literature that a wheeled mobile robot, with a fixed length axle and wheels modeled as thin disk, will undergo slip when it negotiates an uneven terrain. To overcome slip, variable length axle (VLA) has been proposed in literature. In this paper, we model the wheels as a torus and propose the use of a passive joint allowing a lateral degree of freedom. Furthermore, we model the mobile robot, instantaneously, as a hybrid-parallel mechanism with the wheel–ground contact described by differential equations which take into account the geometry of the wheel, the ground and the non-holonomic constraints of no slip. We present an algorithm to solve the direct and inverse kinematics problem of the hybrid-parallel mechanism involving numerical solution of a system of differential-algebraic equations. Simulation results show that the three-wheeled WMR with torus shaped wheels and passive joints can negotiate uneven terrain without slipping. Our proposed approach presents an alternative to variable length axle approach. 相似文献
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Seung-Chul Han Jinho Kim Hwa-Cho Yi 《International Journal of Precision Engineering and Manufacturing》2009,10(4):143-146
Robots are utilized to automate works on a vertical plane of a large structure such as a ship and permanent magnet wheels
have been utilized to make possible the robots to be attached to vertical plane and be in motion. In this paper, we propose
a new design of the permanent magnet wheel for mobile robots to improve the adhesive force and facilitate the detachment of
the wheel. In newly suggested design, the magnetic flux enhances the adhesive force during the attachment while induction
pins redirect magnetic flux in order to achieve an easier detachment. To characterize the performance, finite element analysis
is executed and experiment apparatus is constructed. The results show that the adhesive force is reduced effectively by using
induction pins. 相似文献
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Walking is the basic skill of a legged robot, and one of the promising ways to improve the walking performance and its adaptation to environment changes is to let the robot learn its walking by itself. Currently, most of the walking learning methods are based on robot vision system or some external sensing equipment to estimate the walking performance of certain walking parameters, and therefore are usually only applicable under laboratory condition, where environment can be pre-defined. Inspired by the rhythmic swing movement during walking of legged animals and the behavior of their adjusting their walking gait on different walking surfaces, a concept of walking rhythmic pattern(WRP) is proposed to evaluate the walking specialty of legged robot, which is just based on the walking dynamics of the robot. Based on the onboard acceleration sensor data, a method to calculate WRP using power spectrum in frequency domain and diverse smooth filters is also presented. Since the evaluation of WRP is only based on the walking dynamics data of the robot’s body, the proposed method doesn’t require prior knowledge of environment and thus can be applied in unknown environment. A gait learning approach of legged robots based on WRP and evolution algorithm(EA) is introduced. By using the proposed approach, a quadruped robot can learn its locomotion by its onboard sensing in an unknown environment, where the robot has no prior knowledge about this place. The experimental result proves proportional relationship exits between WRP match score and walking performance of legged robot, which can be used to evaluate the walking performance in walking optimization under unknown environment. 相似文献