摘要
复合式移动系统是当前移动机器人研究的热点之一。总结了已有的一些轮-腿复合式移动系统的研究成果及结构特点,提出一种基于球齿轮机构的新型轮-腿复合式移动平台的结构设计方案,这种新型移动平台的轮腿机构具有不同于已有轮-腿复合式移动系统独特的运动特征,在结构上可实现"轮"、"腿"的真正融合,使得平台具有轮式、腿式和轮-腿复合三种移动模式,可实现直行、斜行、小半径转弯甚至原地转弯等多种运动姿态。对轮腿机构进行了计算机虚拟模型运动仿真研究,并对平台样机进行了姿态调整实验,结果表明这种新型移动平台能够实现设定的多种复杂运动姿态。
The hybrid locomotion system is a hotspot in mobile robot research. This paper firstly gives a brief review of the achievements accomplished in wheel-leg hybrid mobile platform, and the structural characters. Based on the spherical gear mechanism, a new mobile platform with wheel-leg hybrid mechanism is put forward. The wheel-leg mechanism has a novel character, that is, the wheel mode and the leg mode can be fused not only in structure but also in their function. As a result, the mobile platform has three mobile modes： independent wheel mode, independent leg mode and wheel-leg-fusion mode. The mobile platform can realize several mobile poses such as straight moving, sloping moving, turning in a smaller radius and even turning-in-place. The current design was testified by the results of simulation using virtual prototype technology and experiments based on the wheel-leg-system and the mobile platform physical prototype.
出处
《国防科技大学学报》
EI
CAS
CSCD
北大核心
2008年第4期98-102,共5页
Journal of National University of Defense Technology
基金
国家自然科学基金资助项目(50475058)
关键词
球齿轮
轮腿复合式
复合式移动系统
移动平台
轮腿机构
the spherical gear
the wheel-leg hybrid mode
the hybrid locomotion system
mobile platform
wheel-leg hybrid mechanism
