轮摆式排爆机器人摆臂耦合策略研究

为提升自主开发的轮摆式排爆机器人的站立行走性能,从运动学角度出发,求出车轮和摆臂的运动关系,应用坐标系转化(TF)得到机器人站立行走时的轮摆耦合方程,计算车体在不同姿态下车轮中心到摆臂接地点之间的距离,让车轮以一定的速度旋转来补偿接地轮受到的摩擦力,把接地轮与地面之间的滑动摩擦转化成滚动摩擦,从而改善摆臂耦合摩擦特性,减小摆臂电机的电流大小;然后在速度模式的控制下,对比优化前后摆臂电机电流值的大小。通过实验,验证了该轮摆的联动策略,提高了排爆机器人站立行走时的性能。

Research on Swingarm Coupling Strategy of Wheel-swingarm Explosive Ordnance Disposal Robot

To improve the standing-walking performance of the self-developed wheel-type explosive ordnance disposal robot,the relationship between the wheel and the swingarm was calculated from the kinematics point of view,and the coordinate system transformation(TF)was applied to obtain the robot’s standing walking wheel-swingarm coupling equation.The distance between the center of the wheel and the point where the swingarm hits the ground in different postures was calculated so that the wheel moves at a certain speed to compensate the frictional force of the ground,and the sliding friction was converted into rolling friction,which improves the coupling friction characteristics and reduces the driving motor current.Then the current value before and after optimization under the control of speed mode were compared.Finally,the linkage strategy of swingarm coupling was verified by experiments,which improves the standing walking performance of the explosive ordnance disposal robot.