地面移动机器人越障动力学建模与分析

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.

A ground mobile robot which adopts wheel-leg-track compound moving mechanism is studied.Firstly,two kinds of obstacle-negotiation processes are described respectively,i.e.leg-track and wheel-leg-track compound obstacle negotiation.The dynamic modeling for process of leg-track compound obstacle negotiation is built.The relationship between motor driving torque and robot velocity,and relationship between motor driving torque and obstacle height are analyzed.The theoretical foundation to ensure adaptability of robot in complicated environment is provided.

国家863计划资助项目(2006AA04Z210)