摘要
针对复杂的户外环境给残疾人出行带来不便的问题,提出一种具有变胞功能的轮腿式机器人,其具有迈步行走和轮式移动两种运动模式。该机器人结构采用面对称的布局方式,腿部采用可变胞的串并混联机构。研究变胞机构并设计变胞规则,推导机器人运动学方程并绘制腿部工作空间三维图;建立虚拟样机模型,采用ADAMS软件完成机器人迈步行走动力学仿真。结果表明:机器人在迈步行走过程中稳定性良好,驱动参数曲线平稳,为在实际工程应用领域中拓展提供理论参考和数据支持。
In response to the problem that complex outdoor environments cause inconvenience for the disabled when they travel.a metamorphic wheel legged robot is proposed,with two motion modes of step walking and wheel movement.The robot adopts the layout of face symmetry,with its leg characterized by the metamorphic serial-parallel hybrid connection.Efforts are made to explore the metamorphic mechanism and design its rules;then,the kinematic equation of the robot is derived and the three-dimensional diagram of the leg's working space is drawn.The model of the virtual prototype model is set up.The ADAMS software is used for dynamic simulation of the robot's step-walking.The results show that the robot has good stability in the stepwalking process and the curve of the driving parameters is stable.This study provides theoretical reference and data support for widespread application of such robots in various engineering fields.
作者
陈鑫卓
郭忠峰
汤赫男
何启华
CHEN Xinzhuo;GUO Zhongfeng;TANG Henan;HE Qihua(School of Mechanical Engineering,Shenyang University of Technology,Shenyang 110870)
出处
《机械设计》
北大核心
2025年第6期68-75,共8页
Journal of Machine Design
基金
辽宁省教育厅项目(LJKZ0114,LJKMZ20220458)。
关键词
轮腿式机器人
变胞机构
串并混联
动力学仿真
wheel-legged robot
metamorphic mechanism
serial-parallel hybrid connection
dynamic simulation
作者简介
陈鑫卓(1997-),男,硕士研究生,研究方向:机器人技术。E-mail:3401601758@qq.com;通信作者:郭忠峰(1978-),男,副教授,博士,研究方向:机器人技术。E-mail:13146221@qq.com。
