六轮摇臂移动机器人结构设计与越障动力学研究

doi:10.12382/bgxb.2022.0825

摘要/Abstract

摘要：

为提高移动机器人在复杂地形环境中的越障性能,提出一种被动式越障的六轮摇臂移动机器人。针对爬台阶问题对机器人的越障性能进行研究,从几何条件分析得到机器人不发生底盘托底现象时结构参数与越障高度之间的关系,并分析机器人的关键越障过程,建立了前轮、中轮、后轮的越障动力学模型,根据动力学模型分析机器人速度、加速度、附着系数以及重心位置等因素对轮毂电机输出转矩的影响。基于样机实验与ADAMS仿真软件验证了机器人的通过能力,并得到了机器人轮毂电机的输出转矩曲线,指导电机选型。研究结果表明,针对爬台阶问题,该机器人具有良好的通过能力,为提高机器人在复杂地形中的越障性能提供了设计参考。

关键词: 移动机器人, 摇臂, 越障性能, 动力学

Abstract:

A passive obstacle-surmounting six-wheeled rocker-type mobile robot is roposed to improve the obstacle-surmounting performance of mobile robots in complex terrain environment. The obstacle-surmounting performance of the robot is studied for climbing steps. The relationship between the structural parameters and the obstacle-surmounting height when the robot does not have the bottom support phenomenon is obtained from the analysis of geometric conditions, and the key obstacle-surmounting process of the robot is analyzed. The obstacle-surmounting dynamics models of front wheels, middle wheels and rear wheels are established. The influences of the robot’s speed, acceleration, adhesion coefficient and the position of the center of gravity on the output torque of hub motor are analyzed based on the dynamics models. The passing capability of robot is verified by using the prototype experiment and ADAMS simulation software, and the output torque curve of robot’s hub motor is obtained to guide the selection of motor. The research results show that the robot has good passing capability for climbing steps, which provides a design reference for improving the obstacle-surmounting performance of robot in complex terrain.

Key words: mobile robot, rocker, obstacle-surmounting performance, dynamics

中图分类号:

TP24

尚哲, 王挺, 徐瑶, 吴英彪, 邵沛瑶, 邵士亮. 六轮摇臂移动机器人结构设计与越障动力学研究[J]. 兵工学报, 2023, 44(11): 3478-3488.

SHANG Zhe, WANG Ting, XU Yao, WU Yingbiao, SHAO Peiyao, SHAO Shiliang. Structural Design and Obstacle-surmounting Dynamics Research of Six-wheeled Rocker-type Mobile Robot[J]. Acta Armamentarii, 2023, 44(11): 3478-3488.

图/表 26

表1 机器人的设计指标

Table 1 Design indexes of robot

参数	取值
规格/mm	1300×700×1200
爬坡角度/(°)	30
越过障碍物高度/mm	300
爬过一定尺寸的楼梯	国家标准室内人行台阶

图1 六轮摇臂机器人示意图

Fig.1 Schematic diagram of six-wheeled rocker-type robot

图2 六轮摇臂机器人机构示意图

Fig.2 Mechanism sketch of six-wheeled rocker-type robot

表2 机器人主要参数

Table 2 Main parameters of robot

参数	数值
最大速度v/(m·s^-1)	4
整体质量m/kg	120
车轮半径R/mm	190
前轮与后摇臂回转中心距L₁/mm	690
中轮与后轮中心距L₂/mm	460

图3 前摇臂结构图

Fig.3 Structure diagram of front rocker arm

图4 左后摇臂结构图

Fig.4 Structure diagram of left rear rocker arm

图5 拉簧减震作用原理图

Fig.5 Principle diagram of shock absorption of tension spring

图6 阻力矩关系曲线

Fig.6 Relation curve of resistance moment

图7 机器人越障过程

Fig.7 Obstacle surmounting process of robot

图8 中轮翻越台阶的几何条件

Fig.8 Geometric conditions for middle wheels to climb the steps

图9 后轮翻越台阶的几何条件

Fig.9 Geometric conditions for rear wheels to climb the steps

图10 轮距与越障高度之间的关系

Fig.10 Relationship between wheel spacing and obstacle-surmounting height

图11 前轮越障受力分析

Fig.11 Force analysis of front wheels for obstacle surmounting

图12 中轮越障受力分析

Fig.12 Force analysis of middle wheels for obstacle surmounting

图13 后轮越障受力分析

Fig.13 Force analysis of rear wheels for obstacle surmounting

图14 速度对后轮输出转矩的影响

Fig.14 Effect of speed on output torques of rear wheel

图15 加速度对后轮输出转矩的影响

Fig.15 Effect of acceleration on output torques of rear wheel

图16 附着系数对后轮输出转矩的影响

Fig.16 Effect of adhesion coefficient on output torques of rear wheel

图17 重心高度对后轮输出转矩的影响

Fig.17 Effect of height of the center of gravity on output torques of rear wheel

图18 重心水平位置对后轮输出转矩的影响

Fig.18 Effect of horizontal position of the center of gravity on output torques of rear wheel

图19 机器人越障仿真

Fig.19 Simulation of roboto bstacle-surmounting

图20 越障驱动力矩曲线

Fig.20 Driving moment curve of obstacle-surmounting

图21 轮心位置曲线

Fig.21 Curves of wheel center position

图22 机器人通过300mm高度障碍物实验

Fig.22 Experiment of robot passing 300mm height obstacle

表3 越障性能实验结果

Table 3 Experimental results of obstacle-surmounting

垂直高度/mm	现象	时间/s	俯仰角/(゜)
120	快速通过	4.72	10.86
180	顺利通过	6.35	16.42
240	颠簸通过	8.74	22.14
300	明显颠簸缓慢通过	9.87	29.05
340	不能通过

表4 承载能力实验结果

Table 4 Experimental results of bearing capacity

负载/kg	垂直高度/mm	现象	平均行驶时间/s
20	300	顺利通过	9.35
40	300	顺利通过	9.60
60	300	顺利通过	10.18

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