聂建军 , 闫修鹏 , 马宗正 , 等 . 新型弓腰式移动底盘的设计及通过性分析 [J ] . 吉林大学学报(工学版) , 2022 , 52 ( 3 ): 515 - 524 .

NIE J J , YAN X P , MA Z Z , et al . Design and trafficability analysis of new bow waist mobile chassis [J ] . Journal of Jilin University(Engineering and Technology Edition) , 2022 , 52 ( 3 ): 515 - 524 . (in Chinese)

朱华 , 由韶泽 . 新型煤矿救援机器人研发与试验 [J ] . 煤炭学报 , 2020 , 45 ( 6 ): 2170 - 2181 .

ZHU H , YOU S Z . Research and experiment of a new type of coal mine rescue robot [J ] . Journal of China Coal Society , 2020 , 45 ( 6 ): 2170 - 2181 . (in Chinese)

李所军 , 高海波 , 邓宗全 , 等 . 摇臂探测车折叠式悬架的综合评价与设计分析 [J ] . 宇航学报 , 2010 , 31 ( 5 ): 1468 - 1474 .

LI S J , GAO H B , DENG Z Q , et al . Comprehensive evaluation and design analysis of the folded suspension of rocker-bogie exploration rover [J ] . Journal of Astronautics , 2010 , 31 ( 5 ): 1468 - 1474 . (in Chinese)

张硕 , 姚建涛 , 许允斗 , 等 . 形态可重构移动机器人行走机构设计与分析 [J ] . 农业机械学报 , 2019 , 50 ( 8 ): 418 - 426 .

ZHANG S , YAO J T , XU Y D , et al . Design and analysis of moving mechanism of shape reconfigurable mobile robot [J ] . Transactions of the Chinese Society of Agricultural Engineering , 2019 , 50 ( 8 ): 418 - 426 . (in Chinese)

马金猛 , 李小凡 , 姚辰 , 等 . 地面移动机器人越障动力学建模与分析 [J ] . 机器人 , 2008 , 30 ( 3 ): 273 - 278 . 对采用轮—腿—履带复合型移动机构的地面移动机器人进行了研究，首先分别描述了机器人采用腿—履带、轮—腿—履带两种方式的越障过程，进而对腿—履带复合越障过程进行了动力学建模，分析了电机驱动力矩与机器人速度及障碍物高度等之间的关系，为确定机器人的复杂环境适应能力提供理论依据．

MA J M , LI X F , YAO C , et al . Dynamic modeling and analysis for obstacle negotiation of ground mobile robot [J ] . Robot , 2008 , 30 ( 3 ): 273 - 278 . (in Chinese)

LI W H , LI Z C , LIU Y Q , et al . Semi-autonomous bilateral teleoperation of six-wheeled mobile robot on soft terrains [J ] . Mechanical Systems and Signal Processing , 2019 , 133 : 106234 . DOI: 10.1016/j.ymssp.2019.07.015 http://doi.org/10.1016/j.ymssp.2019.07.015 https://linkinghub.elsevier.com/retrieve/pii/S0888327019304431 https://linkinghub.elsevier.com/retrieve/pii/S0888327019304431

GRIGORE L S , GORGOTEANU D , MOLDER C , et al . A dynamic motion analysis of a six-wheel ground vehicle for emergency intervention actions [J ] . Sensors , 2021 , 21 ( 5 ): 1618 . DOI: 10.3390/s21051618 http://doi.org/10.3390/s21051618 https://www.mdpi.com/1424-8220/21/5/1618 https://www.mdpi.com/1424-8220/21/5/1618 To protect the personnel of the intervention units operating in high-risk areas, it is necessary to introduce (autonomous/semi-autonomous) robotic intervention systems. Previous studies have shown that robotic intervention systems should be as versatile as possible. Here, we focused on the idea of a robotic system composed of two vectors: a carrier vector and an operational vector. The proposed system particularly relates to the carrier vector. A simple analytical model was developed to enable the entire robotic assembly to be autonomous. To validate the analytical-numerical model regarding the kinematics and dynamics of the carrier vector, two of the following applications are presented: intervention for extinguishing a fire and performing measurements for monitoring gamma radiation in a public enclosure. The results show that the chosen carrier vector solution, i.e., the ground vehicle with six-wheel drive, satisfies the requirements related to the mobility of the robotic intervention system. In addition, the conclusions present the elements of the kinematics and dynamics of the robot.

韩子勇 , 苑士华 , 裴伟亚 , 等 . 摇臂悬挂机动平台运动姿态调节最优控制研究 [J ] . 兵工学报 , 2019 , 40 ( 11 ): 2184 - 2194 . DOI: 10.3969/j.issn.1000-1093.2019.11.002 http://doi.org/10.3969/j.issn.1000-1093.2019.11.002 摇臂悬挂机动平台运动自由度多且运动姿态调节复杂，以机构运动学控制为主的运动控制方法，不能准确描述驱动关节力矩与车体轨迹和姿态的关系。基于质心动力学模型和二次规划方法，建立了一种适用于轮腿复合移动类型车辆整体运动姿态调节的通用动态优化控制框架；以基于动力学模型的二次规划方法为主，结合系统逆运动学控制，实现了对车轮地面反作用力的直接控制。利用上述控制方法，对机动平台的侧倾、俯仰、联合姿态调节及其在颠簸路面下的应用进行仿真。结果表明，该动力学运动姿态调节动态优化控制方法能够满足实时性和控制精度的需求。

HAN Z Y , YUAN S F , PEI W Y , et al . Optimal control of posture adjustment for articulated suspension vehicle [J ] . Acta Armamentarii , 2019 , 40 ( 11 ): 2184 - 2194 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2019.11.002 http://doi.org/10.3969/j.issn.1000-1093.2019.11.002 The motion control method mainly based on kinematics equations cannot accurately describe the relationship between the driving joint torque and the vehicle body trajectory and attitude because of the many degrees of freedom of motion and complex posture adjustment of articulated suspension vehicle. A general dynamic optimal control framework suitable for the overall posture adjustment of the leg-wheeled robot vehicle is established based on the centroidal dynamics model and the quadratic programming method. In the controller, the wheel-ground reaction force is directly controlled by using the quadratic programming method based on dynamic model and the inverse kinematics control. The above control method is used to simulate the posture adjustment of roll, pitch and composite attitude of articulated suspension vehicle and its application on bumpy road. The results show that the dynamic optimal control method of dynamic posture adjustment can meet the requirements of the real-time performance and control precision. Key

SUN Y , YANG Y , MA S G , et al . Modeling paddle-aided stair-climbing for a mobile robot based on eccentric paddle mechanism [C ] // Proceedings of 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems. Hamburg,Germany:IEEE , 2015 : 4153 - 4158 .

姜勇 . 深海复合轮式采矿机器人越障性能研究 [J ] . 机器人 , 2012 , 34 ( 2 ): 137 - 143 . DOI: 10.3724/SP.J.1218.2012.00137 http://doi.org/10.3724/SP.J.1218.2012.00137 针对深海富钴结壳和热液硫化调查区复杂多变的底质环境特征, 提出了一种兼有主被动混合越障模式的复合轮式采矿机器人. 该机器人主体由4组复合轮组与铰接密封抗压型整体罐式车架组成.建立了典型越障工况下复合轮组结构的静力学模型, 得到了影响其越障性能的主要结构参数,利用MATLAB工具箱对复合轮组结构参数进行优化设计,实现机器人越障性能的提高. 结合深海复杂多变的底质环境特征,运用ADAMS软件对优化设计后的复合轮式机器人进行动力学建模和仿真分析. 获得了机器人越障过程中的运动学特性曲线和力学特性曲线,并通过研制原理样机对其越障性能进行测试验证. 结果表明,该机器人在复杂多变的深海底质环境下中具有较强的越障能力和通过稳定性.

JIANG Y . Research on the over-obstacle capacity of the deep sea composite wheeled mining robot [J ] . Robot , 2012 , 34 ( 2 ): 137 - 143 . (in Chinese) DOI: 10.3724/SP.J.1218.2012.00137 http://doi.org/10.3724/SP.J.1218.2012.00137 Due to the complex and varied substrate environmental characteristics of cobalt-rich crusts and hydrothermal sulfide survey area in deep sea, a composite wheeled mining robot with active and passive over-obstacle capacity is designed. The mining robot is composed of 4-composite wheels and an integral articulated sealed compressive tank frame. A static model of the composite wheels structure is set up in the typical over-obstacle condition, to obtain its main structural parameters affecting over-obstacle capacity. Using MATLAB toolbox, the composite wheels structural parameters are optimized for design, so that the over-obstacle capacity is improved. Considering the complex and varied substrate environmental characteristics in deep sea, dynamics model of the optimized composite wheeled robot is set up, the simulation analysis with ADAMS is performed, and dynamic characteristics curve and mechanical characteristics curve of the mining robot are obtained in over-obstacle process. Through designing prototype and testing its over-obstacle capacity, it is shown that the mining robot has strong over-obstacle capacity and transit stability in the complex and varied deep sea substrate environment.

贺继林 , 任常吉 , 吴钪 , 等 . 八轮四摆臂无人机动平台越障性能分析与试验 [J ] . 农业机械学报 , 2019 , 50 ( 1 ): 367 - 373 .

HE J L , REN C J , WU K , et al . Investigation on obstacle-surmount performance for eight-wheel unmanned ground vehicle with four swing arms [J ] . Transactions of the Chinese Society for Agricultural Machinery , 2019 , 50 ( 1 ): 367 - 373 . (in Chinese)

刘本勇 , 高峰 , 姜惠 , 等 . 平衡摇臂式移动机器人姿态控制算法 [J ] . 北京航空航天大学学报 , 2018 , 44 ( 2 ): 391 - 398 .

LIU B Y , GAO F , JIANG H , et al . Attitude control algorithm of balancing-arm mobile robot [J ] . Journal of Beijing University of Aeronautics and Astronautics , 2018 , 44 ( 2 ): 391 - 398 . (in Chinese)

杨武林 , 张静 , 张俊俊 . 具有被动摆臂的八轮机器人结构设计与仿真分析 [J ] . 机械传动 , 2020 , 44 ( 3 ): 72 - 76 . DOI: 10.16578/j.issn.1004.2539.2020.03.012 http://doi.org/10.16578/j.issn.1004.2539.2020.03.012 为了提高轮式移动机器人的地形适应性、越障性和操控性，设计了一种具有被动摆臂的八轮机器人。采用铰接式摇臂能被动适应地形变化而相对转动，并在铰接点引入柔性关节以产生阻力矩，提高机器人的稳定性。分析了机器人在垂直台阶的越障机理，利用RecurDyn软件进行越障性能仿真，分析得出机器人越障的关键阶段。仿真结果表明，机器人可以攀越大于车轮直径的垂直台阶；并通过有、无柔性关节的仿真对比，验证了柔性关节的可行性，得出最优设计参数，为物理样机的研制提供理论依据。

YANG W L , ZHANG J , ZHANG J J . Structural design and simulation analysis of eight-wheeled robot with passive swing arm [J ] . Journal of Mechanical Transmission , 2020 , 44 ( 3 ): 72 - 76 . (in Chinese) DOI: 10.16578/j.issn.1004.2539.2020.03.012 http://doi.org/10.16578/j.issn.1004.2539.2020.03.012 In order to improve the terrain adaptability, obstacle-climbing capability and operability of wheeled mobile robots, an eight-wheeled robot with passive swing arms is designed. The articulated rocker arm can passively adapt to the change of the terrain and rotate relatively, and a flexible joint at the hinge point is introduced to generate a resistive torque, to improve the stability of the robot. The obstacle-climbing mechanism of this robot on vertical step is analyzed. The obstacle-climbing simulation is carried out by using the RecurDyn, the simulation results show that the robot can climb the vertical step beyond the diameter of the wheel. The feasibility of flexible joints is verified by simulation comparison experiments with and without flexible joints, and the optimal design parameters are obtained, a theoretical basis for the development of physical prototype is provided.

田海波 , 方宗德 , 古玉锋 . 轮腿式机器人越障动力学建模与影响因素分析 [J ] . 机器人 , 2010 , 32 ( 3 ): 390 - 397 . 研究了一种具有多种驱动模式的轮腿式机器人的越障动力学问题．首先描述了机器人爬越垂直障碍的过程，进而构建了越障过程的动力学模型．该模型可以体现各电机输出转矩之间的关系以及运动状态、重心分布等影响因素．通过对整个过程的分析，确定了驱动系统中两种电机输出力矩的极限状态，并分析各因素对其最大输出力矩的影响，最后给出了机器人最大越障高度的计算方法．上述结果可为提高机器人的复杂环境适应能力提供理论依据．

TIAN H B , FANG Z D , GU Y F . Dynamic modeling for obstacle negotiation of wheel-legged robot and analysis on its’ influential factors [J ] . Robot , 2010 , 32 ( 3 ): 390 - 397 . (in Chinese) DOI: 10.3724/SP.J.1218.2010.00390 http://doi.org/10.3724/SP.J.1218.2010.00390 http://robot.sia.cn/CN/Y2010/V32/I3/390 http://robot.sia.cn/CN/Y2010/V32/I3/390

张超凡 . 轮腿式无人运载平台垂直越障性能研究 [D ] . 长春 : 吉林大学 , 2020 : 21 - 38 .

ZHANG C F . Research on obstacle crossing ability of wfeel-leg unmanned transportation platform [D ] . Changchun : Jilin University , 2020 : 21 - 38 . (in Chinese)

CHOI D K , KIM Y S , JUNG S M , et al . A new mobile platform (RHyMo) for smooth movement on rugged terrain [J ] . IEEE-ASME Transactions on Mechatronics , 2016 , 21 ( 3 ): 1303 - 1314 . DOI: 10.1109/TMECH.2016.2520085 http://doi.org/10.1109/TMECH.2016.2520085 http://ieeexplore.ieee.org/document/7387747/ http://ieeexplore.ieee.org/document/7387747/

SONG Z , LUO Z L , WEI G W , et al . Design and analysis of a six-wheeled companion robot with mechanical obstacle-overcoming adaptivity [J ] . Mechanical Sciences , 2021 , 12 ( 2 ): 1115 - 1136 . DOI: 10.5194/ms-12-1115-2021 http://doi.org/10.5194/ms-12-1115-2021 https://ms.copernicus.org/articles/12/1115/2021/ https://ms.copernicus.org/articles/12/1115/2021/ . A six-wheeled companion exploration robot with an adaptive\nclimbing mechanism is proposed and released for the complicated terrain\nenvironment of planetary exploration. Benefiting from its three-rocker-arm structure, the robot can adapt to complex terrain with its six wheels in\ncontact with the ground during locomotion, which improves the stability of\nthe robot. When the robot moves on the flat ground, it moves forward through\nthe rotation of the wheels. When it encounters obstacles in the process of\nmoving forward, the front obstacle-crossing wheels hold the obstacle, and\nthe rocker arms on both sides rotate themselves with mechanical adaptivity\nto drive the robot to climb and cross the obstacle like crab legs.\nFurthermore, a parameterized geometric model is established to analyze the\nmotion stability and the obstacle-crossing performance of the robot. To\ninvestigate the feasibility and correctness of design theory and robot\nscheme, a group of design parameters of the robot are determined. A\nprototype of the robot is developed, and the experiment results show that the\nrobot can maintain stability in rugged terrain environments and has a\ncertain ability to surmount obstacles.\n

曲梦可 , 王洪波 , 荣誉 . 轮腿混合机器人机械腿动力学建模与驱动预估 [J ] . 兵工学报 , 2017 , 38 ( 8 ): 1619 - 1629 . DOI: 10.3969/j.issn.1000-1093.2017.08.021 http://doi.org/10.3969/j.issn.1000-1093.2017.08.021 提出了一种可以同时实现迈步行走、有动力轮式机动、无动力轮旱冰式滑行3种运动方式的轮腿混合四足军用机器人，它采用一种基于3-UPS机构的6自由度并联机械腿，对并联机械腿进行了动力学建模与驱动参数峰值预估。通过矢量回路法推导出机械腿的机构传递映射模型，并建立了机构的雅可比矩阵；采用非保守系统的拉格朗日方程建立了机械腿的动力学模型，得到了驱动参数与机械腿的运动函数之间的显式方程。通过机械腿的动力学模型，对6个伺服电机的驱动转速、力矩进行了峰值预估分析，计算出各伺服电机中的最大理论转速为19.7 r/s，最大理论力矩为71 mN·m. 通过一个具体的机械腿设计方案和结构参数算例，分析了机器人按照“1-2-3-4”循环步态迈步行走过程中，其6个伺服电机的瞬时转速、瞬时力矩随时间的变化规律曲线，并计算出此算例的伺服电机最大转速为15.3 r/s，最大力矩为48.1 mN·m，均小于预估模型中的预估理论极限峰值，通过计算得出算例的伺服电机选型预估功率为77 W，算例结果证明了所建立的驱动参数峰值预估模型的合理性。

QU M K , WANG H B , RONG Y . Dynamic modeling and driving parameter prediction of mechanical leg of wheel-leg hybrid robot [J ] . Acta Armamentarii , 2017 , 38 ( 8 ): 1619 - 1629 . (in Chinese)

GAI X S , CUI D Q , GUO W Z , et al . Dynamics and stability analysis on stairs climbing of wheel-track mobile robot [J ] . International Journal of Advanced Robotic Systems , 2017 , 14 ( 4 ): 172988141772078 .

王奉晨 . 全地形轮式移动机器人设计与性能分析 [D ] . 成都 : 西南交通大学 , 2018 : 39 - 45 .

WANG F C . Design and performance analysis of all-terrain wheel mobile robot [J ] . Chengdu : Southwest Jiaotong University , 2018 : 39 - 45 . (in Chinese)

LIM K , RYU S , WON J H , et al . A modified rocker-bogie mechanism with fewer actuators and high mobility [J ] . IEEE Robotics and Automation Letters , 2022 , 7 ( 4 ): 8752 - 8758 . DOI: 10.1109/LRA.2022.3188120 http://doi.org/10.1109/LRA.2022.3188120 https://ieeexplore.ieee.org/document/9813575/ https://ieeexplore.ieee.org/document/9813575/