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室内外不同工作环境对移动机器人的结构有不同的要求。本文设计了一种新颖的模块化的轮-履式移动机器人,描述了该轮-履式移动机器人纯轮式、纯履带式及轮履混合式等不同的运动模式;基于该机器人模块化的履带式结构特性,分析了该机器人的转向运动条件,基于转向阻力矩模型,建立了该轮-履式移动机器人完成履带式转向运动的约束方程。仿真和实验证明,此种轮-履式移动机器人地形适应能力强,在履带运动模式下,采取大的转向半径及小的转向比可有效减少机器人的转向阻力矩,能很好地完成转弯运动。
Different indoor and outdoor working environments have different requirements for the structure of mobile robots. In this paper, a novel modular wheel-walking mobile robot is designed, which describes the different movement modes of the wheel-mobile robot, such as pure wheel, pure track and wheel hybrid. Based on the modularity of the robot Based on the steering resistance moment model, the constraint equation of the wheel-walking mobile robot to complete the track-type steering motion is established. Simulations and experiments show that the wheel-follower mobile robot has strong terrain adaptability. Under the track-moving mode, the steering radius and the small steering ratio can effectively reduce the steering torque of the robot, and the steering motion can be completed well .