轮足式变胞机器人的结构设计及仿真分析
Structure Design and Simulation Analysis of Wheel-legged Metamorphic Robot
许吉禅 1朱孟双 1姚远 1曾忱 1李天晴1
作者信息
- 1. 安徽理工大学机电工程学院,安徽 淮南 232000
- 折叠
摘要
针对矿山机器人复杂的工作环境,设计了一种轮足式变胞机器人.该机器人采用变胞机构,可实现六足式、四足式和轮式3 种构态,在非结构化环境下可采用四足或六足式构态行走,在结构化环境下可采用轮式构态行驶,具有较强的环境适应性.利用ADAMS软件对该机器人的运动过程进行了仿真,验证了变胞结构设计的可行性,确定了机器人样机结构,并初步规划了控制策略.该轮足式变胞机器人可以根据不同的环境和工作条件方便地改变自身的构态,拓宽了爬行机器人设计思路,促进了变胞机构在矿山机器人领域的应用.
Abstract
In view of the complex working environment of mining robot,a wheel-legged metamorphic robot was designed.The robot uses a metamorphic mechanism,which can realize three configurations of hexapod,quadruped,and wheel.In the unstructured environment,it can walk on quadruped or hexapod configuration,and in the structured environment,it can drive on wheel configuration,thus having strong environmental adaptability.The motion process of the robot was simulated by using ADAMS software,verifyied the feasibility of the morphing structure design,determined the robot prototype structure,and initialized the control strategy.The wheel-legged metamorphic robot can conveniently change its configuration according to different environments and working conditions,broadening the design ideas of crawling robots and promoting the application of metamorphic mechanisms in mining robot.
关键词
矿山机器人/轮足式/变胞机构/构态变换Key words
mining robot/wheel-legged/metamorphic mechanism/configuration transformation引用本文复制引用
出版年
2025
NETL
NSTL
万方数据