共查询到18条相似文献,搜索用时 171 毫秒
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主从履带复合式越障机器人软土行走研究 总被引:1,自引:1,他引:0
分析了履带行走系统的力学系统原理,并采用多体动力学软件RecurDyn对主从履带复合式越障机器人虚拟样机在平地软土路面环境中的行走状态进行了仿真分析。仿真结果表明,由于样机的重心位置没有与几何中心位置重合,导致引导轮下履带沉陷量较大,而压力分配不均匀又可能导致履带局部接地,降低履带寿命,因此设计时要注意车体重心的合理分配问题。 相似文献
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履带可变形机器人越障性能研究 总被引:1,自引:0,他引:1
《机器人》2015,(6)
将椭圆定理应用于履带机器人构型设计,研制了履带连续张紧且履带长度保持不变的履带可变形机器人.该机器人重心位置可以通过摆臂转动进行较大幅度的调节,具有较好的越障性能.为充分了解机器人的越障能力,对机器人跨越台阶和沟壑两种典型障碍的运动过程进行了分析.在机器人跨越障碍运动机理的基础上,对越障过程中的关键状态进行了运动学和动力学分析,根据实际情况,选择几何条件、打滑以及稳定性作为约束条件,得到了机器人能跨越的最大障碍的理论值.最后,建立机器人仿真平台,根据理论计算得到的障碍值,对攀爬台阶和跨越沟壑进行仿真实验,并进一步进行了样机实验,验证了机器人的越障能力. 相似文献
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四履带双摆臂机器人越障机理及越障能力 总被引:5,自引:0,他引:5
为发挥四履带双摆臂机器人的最佳越障性能,本文从运动学的角度,在固定双履带机器人越障机理的
基础上,分析了四履带双摆臂机器人克服台阶、斜坡、沟道等典型障碍的运动机理及其最大越障能力,重点研究了
四履带双摆臂机器人正向和反向两种攀越台阶方式的运动机理及其最大越障能力.以CUMT-II 型煤矿探测机器人
样机为例,绘制了机器人仰角、摆臂摆角与跨越台阶高度的3 维关系图,以及斜坡坡度与摆臂摆角关系曲线,并求
出了相应的最大越障能力的理论值,与实验室实测数据进行了对比分析.本文推导出机器人的最佳越障性能及对应
的质心和摆臂的位置,可为机器人越障时质心位置的控制提供理论依据. 相似文献
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六轮移动机器人爬楼梯能力分析 总被引:12,自引:1,他引:12
研究了PBJ-01防暴机器人攀越楼梯的能力. 从机器人对楼梯的几何包容、机器人重心和机器人爬楼梯过程中的最大俯仰角对机器人倾覆的影响等多方面考虑, 得出机器人能够爬越楼梯时楼梯参数必须满足的条件. 在该机器人的行为决策中, 为其选择越障还是避障提供了依据. 相似文献
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摇杆式履带悬架的构型推衍及其在煤矿救灾机器人上的应用 总被引:1,自引:0,他引:1
为使机器人行走机构既能被动地适应崎岖的非结构地形,又能克服台阶、沟道等规则障碍,将履带行
走机构引入摇杆式移动系统中.通过增加摆臂履带和固定关节角,推衍了多种型式的摇杆式履带悬架构型,分析了
各悬架构型的特点.结合煤矿井下非结构的地形环境与爆炸性气体环境,提出了一种采用对称的W 形履带悬架的
摇杆式履带机器人移动系统,并制作了样机.分析了该移动系统的抗倾覆、攀爬台阶、下台阶、跨越沟道等越障特
性并进行了性能试验.性能分析与样机试验表明,摇杆式履带机器人移动平台可适应复杂的非结构地形,具有良好
的越障性能,可攀爬100 mm 高的台阶,下450 mm 高的台阶,跨越260 mm 宽的沟道. 相似文献
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针对一种新型变形履带机构的轮椅机器人,提出了一种动态确定履带张紧力大小的最优估计算法.
相对于传统的恒定张紧力履带式移动机构,动态确定张紧力显著地降低了功率损耗.
考虑到张紧力的建模复杂性,文中采用模糊决策算法,将影响张紧力的主要因素输入模糊决策模块.
然后结合最小二乘法得到履带张紧力的最优估计算法.
鉴于轮椅机器人越障过程中移动速度较慢的特点,
结合张紧力最优估计算法结果对轮椅机器人上楼梯起始阶段进行了静力学建模.
仿真结果证明了利用张紧力估计算法的越障轮椅机构能够平稳爬楼梯,
同时也表明了动态张紧力算法大大降低了驱动功率损耗. 相似文献
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《Advanced Robotics》2013,27(8):739-760
A novel design of a mobile wheelchair robot for all terrains, especially for staircases and inclines, is proposed. Toachieve the required locomotion, a pair of multi-limbed structures, comprised of a lift coxae, rotation femurs and support tibiae, are pivotally mounted on the opposite sides of the body and actuated to rotate through epicyclic gear trains. A dual-footing mode with a set of wheel and crawler tractors in each support tibia permits the locomotion mode depending on various terrains, and hence the mobile wheelchair robot can navigate on a flat surface, and climb up and down stairs or inclines with its body kept horizontal. The implemented design is verified experimentally using our first manufactured prototype mobile wheelchair robot and it is shown that it could be suitable for applications to wheelchairs or others. 相似文献
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《Advanced Robotics》2013,27(13-14):1421-1438
We propose a new algorithm for obstacle negotiation of a mobile robot known as a variable single-tracked robot (VSTR). The robot was originally designed for the purpose of rescue operations; hence, its ability to traverse various environments should be guaranteed. Previous experiments have already shown that the special structural characteristics of a VSTR enable it to easily climb indoor stairs. However, the VSTR has a critical drawback in that all of its functions are realized by an operator and the robot cannot detect obstacles or transform its driving mode by itself. For this reason, we have enhanced the system with the basis for autonomous navigation, i.e., the ability to negotiate obstacles, and we have introduced a methodology for practical use. Our experiments confirm that the driving mode decision, which is controlled by position-sensitive detector infrared sensors, gives decisive improvement. Moreover, the experimental results show that the robot can overcome several obstacles, thereby reflecting the benefits of the proposed algorithm. 相似文献
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为了实现康复机器人的主动柔顺交互,提出了一种基于矢量场逐次逼近的控制模型;设计了矢量场逐次逼近系统,可输出机器人关节期望位移,该输出能与输入的扭矩、表面肌电及脑电等信号在振幅、频率和相位上保持同步,且通过调节遗忘因子参数值,可改变主动柔顺交互的积极性;利用自行设计的穿着型下肢康复机器人样机进行柔顺辅助实验,以验证所提出控制模型的有效性;通过FFT(Fast Fourier transformation)频谱对机器人关节扭矩的组成成分进行了分析,并采用基于最小二乘法的参数辨识方法实施了重力补偿,以便康复机器人实时控制.实验结果表明,该控制模型对于实现康复机器人与人之间的柔顺交互是有效的. 相似文献
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Kyeong Bin Lim 《Advanced Robotics》2013,27(13):1471-1494
In this paper, an actively articulated suspension (AAS) reconfiguration method is proposed for a robotic vehicle with AAS to negotiate an obstacle during straight motion. Proposed method includes AAS locomotion for the locomotion with the AAS and a calculation method that is independent to the terrain model for posture control using the AAS reconfiguration. Using simulations, it was verified that the proposed method can reconfigure the AAS for a robotic vehicle to have the desired position and posture to negotiate an obstacle. The errors of height and orientation can be reduced while wheel driving on rough terrain. Also, the robot can maintain a minimum static stability angle over 0.6?rad. When observing the obstacle negotiation procedure using the AAS reconfiguration including the proposed locomotion, it was found that the robot can conduct a high-level command successfully using the proposed method. The robot can negotiate an obstacle with a height of 71% of its usable length and can maintain the minimum static stability over 0.3?rad. Also, the robot can manage terrain uncertainty using the proposed AAS reconfiguration method. 相似文献
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以HC-SR04超声波传感器模块获取机器人周围环境信息,以链式叉车作为搬运货物的执行机构,以STM32F103单片机作为机器人控制器,设计了一种自动搬运并且避障的小型履带式搬运机器人。针对局部静态环境下多障碍物对系统避障的复杂性,引入了模糊控制算法,通过对机器人与障碍物之间的距离进行模糊化,建立模糊规则,实现搬运机器人的避障控制。为了提高机器人的稳定性及避障的可靠性,对直流电机建立了数学模型,并利用积分分离PID算法进行仿真,最后实验结果表明该算法提高了直流电机的控制性能。 相似文献
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Recently, great advances have been made in intelligent mobile robot technology, advances which will provide autonomous travelling ability to robots, allowing them to surmount stairs and other obstacles. In this paper, we present an active adaptive crawler mechanism and a visual navigating system, developed to achieve practical speed for industrial use of the mobile robot. By using a crawler-type mechanism, the active adaptive suspension mechanism maintains vehicle stability and achieves good climbing capability without increasing weight. Further, we have developed technology for an intelligent navigating mechanism, to guide the robot as it passes through a building. Once the robot is provided with an inner layout plan of the respective building, it can achieve practical mobile speed for industrial use. 相似文献