可重构模块机器人倾翻稳定性研究

介绍了一种可重构模块机器人,它可以通过构形的变化来提高系统的稳定性和抗倾翻能力.该机器人由3个模块组成,采用履带驱动,具有直线、三角、并排3种对称构形.在对移动机器人的倾翻因素和倾翻对策等问题进行分析的基础上,提出稳定锥方法,用倾翻性能指数对移动机器人的静、动态稳定性进行综合判定.讨论了变形机器人3种对称构形在仰俯、偏转、倾斜等干扰组合作用下的倾翻性能指数和综合稳定性,并进行了仿真实验和非结构环境实验.

A reconfigurable modular robot is proposed, which can change its configurations to improve its stability and anti-tipover capability. This three-module tracked robot has three kinds of symmetrical configurations, that is, line type, triangle type and row type. Based on analyzing the factors and countermeasures of mobile robot tipover problem, a stability pyramid and the tipover stability index are proposed to determine globally the mobile robot's static and dynamic stability. And the tipover stability index and global stability of the 3 symmetrical configurations of the metamorphic robot under the combined disturbance of pitch, roll and yaw, are discussed. The simulation and experiment in unstructured environment are presented.

国家863计划资助项目(2001AA422360).