一类轮式机器人的重心控制

介绍了一类建筑领域等非结构环境下使用的由6个转动关节和4个直动关节组成的轮式机器人,其特殊的结构加上重心控制,能使机器人在不平整地面上行走而不倾倒。绘制了机器人重心控制原理,推导出使机器人不倾倒的重心控制运动方程,给出了实验用的部分软硬件原理框图,并通过实验验证了方案的可行性。

The wheeled robots which composed of sk rotation joints and four translation joints in the unstructured environment such as building field is introduced. The special structure of the robot and the gravity center control keep the robot from falling on the uneven ground. The robot gravity center control principle is given and the gravity center control motion equation is deduced, keep robots from falling. Through experiments the feasibility of the scheme is verified. The principle block diagram of software and hardware in the experiment is presented.