阶梯攀爬机器人结构及控制方案设计

针对阶梯攀爬机器人工作过程中的楼梯攀爬及避障问题,对阶梯攀爬机器人机械结构、机器人阶梯攀爬方式、差速驱动方式下机器人运动方程进行了分析,对阶梯攀爬机器人行驶过程中障碍物检测、避障控制策略进行了研究;基于模糊控制原理,建立了阶梯攀爬机器人模糊避障规则,提出了一种基于MC9S12XS128单片机以及超声波传感器的阶梯攀爬机器人障碍物检测、避障及楼梯攀爬控制系统,并利用所研制的阶梯攀爬机器人样机进行了机器人避障、楼梯攀爬测试。测试结果表明,基于变形轮与行星轮相结合的阶梯攀爬机器人机构可以实现阶梯攀爬机器人避障及攀爬楼梯的功能,控制系统可以准确、迅速判断障碍物以及楼梯所处位置,并依据所建立模糊避障规则完成避障及楼梯攀爬任务。     

Novel design of a small field robot with multi-active crawlers capable of autonomous stair climbing

Mobile robots often encounter complex obstacles during their operation, not the least of which are stairs. Suitable mechanical structures and adequate control algorithms are both equally important in stair climbing. This paper proposes a novel design for a multi-active crawler robot (MACbot) capable of autonomous stair climbing. The MACbot has four track modules for extended mobility and a recovery arm that facilitates self-rescue capabilities. By adopting the proposed smart clutch mechanism, the MACbot can provide a variety of motions with a minimum number of motors. This paper presents a static analysis for the mechanical design and details the stability analysis for an autonomous stair climbing algorithm. A series of experiments show that the MACbot can autonomously climb stairs reasonably well.     

曲柄摇杆式爬楼梯装置设计

针对星轮式爬升机构稳定性指标r值较大,影响运行稳定这一问题,提出了一种曲柄摇杆式爬楼梯装置.研究了曲柄摇杆机构杆长对运动轨迹的影响,并对装置进行设计,使其r值减小了22％;应用SolidWorks软件对装置进行建模及爬楼过程仿真,得到其空载和施加载荷时的运行轨迹图,确定了方案的可行性;并进行样机测试,验证了装置的运行稳...     

采用弹簧和行星齿轮传动的阶梯攀登机器人的开发

本文提出的自推进移动机构可攀登阶梯但无传感器或判别算式.开发的腿一轮可动机器人采用弹簧和行星齿轮能适应障碍和克服重力.弹簧作用于前轮攀登一级,而行星齿轮则具有滚动、行走和跳跃的功能,从而使通过阶梯和障碍.已经进行了详细的设计,并设计了具有大量仿真结果的试验模型.同时还通过攀登高阶梯楼梯的试验,证实了设计的试验模型的合理...     

Wheelchair.q, a motorized wheelchair with stair climbing ability

The paper deals with Wheelchair.q, a concept for a stair climbing wheelchair capable of moving in structured and unstructured environments, climbing over obstacles and going up and down stairs.The design of the wheelchair, consisting of a frame, a seat and a four-bar linkage mechanism that connects frame and seat, is presented.The four-bar linkage moves and rotates the chair to prevent the wheelchair from overturning and to guarantee a comfortable posture to the passenger during different operations. The kinematic synthesis of the linkage mechanism is discussed using an algebraic method. When the wheelchair faces an obstacle such as a step or a stair, it can passively change locomotion mode, from rolling on wheels to walking on rotating legs, thanks to its self-adaptive locomotion units. The function of the locomotion unit is described and modeled using kinematic equations. The locomotion unit requires only one motor, for both wheeled and legged locomotion. Tests on a scale prototype were conducted in order to evaluate the effectiveness of this locomotion.     

一种椭圆轮式轮椅爬楼梯辅助装置的设计

设计了一款椭圆轮式轮椅爬楼梯辅助装置,通过锁止轮毂与普通轮椅底架固定连接并套在其轮轴上。采用胎面装附有牙型花纹的防滑橡胶皮的椭圆轮爬楼和越障,装置使用马达作动力。同时对椭圆轮的特性和椭圆轮在台阶上的运动轨迹做了相应的说明。经过性能分析,设计的轮椅爬楼梯辅助装置满足功能要求,并具有爬楼梯安全稳定、操作简单、方便控制等特点。     

一种轮组结构的爬楼梯轮椅的设计

针对普通轮椅不具有爬楼梯的功能,设计了一种轮组结构的爬楼梯轮椅。该爬楼梯轮椅结构紧凑,操作方便,工作可靠,采用轮组结构的演变实现爬楼梯功能,利用滚轴滑轨机构进行座椅调平,并对其越障、跨沟和爬楼梯的运动过程进行了分析。结构表明该轮椅有较强的越障能力和路面适应性。     

直线型连杆爬升机构的设计与分析

通过与现有电动爬楼轮椅的爬升机构的对比与分析,提出了直线型连杆爬升机构。对直线型连杆爬升机构进行设计研究,其端点轨迹上半部分为半圆形,下半部分为近似直线的弦,该轨迹与动物行走步态极其相似;将其作为爬升机构的设计基础,并利用SolidWorks软件对直线型连杆爬升机构进行建模,并对爬升机构在爬楼梯过程的轨迹进行了分析。结果表明,该爬升机构设计方案合理,爬升机构爬升运动轨迹近似直线,较大程度降低了颠簸,为爬楼机构的设计提供了新的理论参考。     

面向助力机器人设计的人体负重楼梯行走下肢运动研究

利用Motion Analysis公司开发的步态分析系统对12名测试对象分别进行不同负重(0kg,10kg,20kg,30kg)的上楼梯行走实验,检测出上楼梯过程中,下肢关键点的三维坐标值及脚底与地面间的反作用力及力矩,通过建立人体下肢动力学模型,获得行走过程中下肢各关节的运动学及动力学行走数据,并分析出随着负重的增加,下肢各关节的运动变化特征。揭示了人体不同负重上楼梯过程中下肢各关节的运动机理,获得的运动学及动力学数据为下肢助力机器人的设计提供了重要的理论依据。     

一种关节式履带移动机器人的爬梯机理分析

通过对自主研制的具有前关节臂履带式移动机器人爬梯机理的分析,提出了同种结构机器人实现连续攀爬楼梯的必要条件,并规划了机器人的爬梯步态,为同类型机器人的结构设计与优化提供了依据。     

Analysis method of climbing stairs with the rocker-bogie mechanism

An analysis method to make the rocker bogie mechanism can climb up a stair is achieved in this paper. To verify whether the rocker bogie, with certain lengths of the linkages and radii of the wheels, could climb up a target stair or not, a kinematic analysis and its posture are determined. The trace of the center of mass of the rocker bogie was considered and the situation that three wheels contact the front side of the stair is analyzed. With this two analyses, the stair climbability graph (SCG) determined with the length and the height of a stair was drawn. The SCG shows the climbable stair group for the rocker bogie with certain size. Two prototypes of rocker bogie which has different lengths of linkages were designed and tested on two different stairs. As same result of the SCG, the first prototype rocker bogie with small rocker linkage can climb up the stair (length 450 mm and height 150 mm) but cannot climb up the other stair (length 300 mm and height 175 mm). The second prototype rocker bogie with large rocker linkage can climb up both stairs.     

一种轮组结构爬楼梯机器人的传动和结构设计

针对楼梯结构的变性,研制了具有爬梯强适应能力的轮组机构。该机构保证机器人具有良好的机动性,能够在平地行驶、爬楼梯、跨越障碍等动作状态间很好的过渡转换。介绍了机器人的结构特点及其运动功能实现,并对机器人的传动结构布局、传动实现、轮组设计等内容进行详细阐述。     

Dynamic stair walking of biped humanoid robots

Biped humanoid robots are expected to move around human-centered setting that includes stairs as a major terrain. Reportedly, however, only few of them can walk up and down stairways as of now. Making it worse, even the successful ones carry out such motions either barely in terms of speed or fast enough but in an undisclosed technical manner. In this context, a dynamic gait pattern is proposed anew suitable for stair walks along with a transient pattern and verified by means of a multi-body dynamics analysis software.     

国内外轨道式机械爬楼装置的研究现状

对于老年人和行动不便的人来说，室内、室外的各种楼梯已经成为了他们参与社会生活的障碍。针对这一现状，产生了许多爬楼装置。其中轨道式机械爬楼装置是在楼梯上安装轨道，使装置沿轨道实现上下楼的运动。这一形式在国外应用很广。根据楼梯形状的不同，轨道有弯轨和直轨之分。导轨形状多样，与之配合的驱动导引机构也各具特色。这里介绍部分轨道式机械爬楼装置的特点、发展现状及其应用。     

一种新型的爬楼梯机器人

研制了一种利用平行四边形变形特点,实现上下楼梯功能的机器人,用于楼道、墙面自动吸尘器。该机器人结构紧凑、体积小、重量轻、操作方便,爬楼梯速度快、平稳可靠,采用单片机控制系统,用以协调整个系统的行走、转向等动作,实现全工作过程的自动化。实验结果验证平行四边形机构机器人具有较强的越障能力和路面适应能力。     

离散化正弦电压作用下的压电驱动器蠕变特性

研究了具有不同离散化台阶的正弦电压对压电陶瓷驱动器蠕变大小以及蠕变起始时间的影响,采用新的数学模型分析了低频下压电陶瓷驱动器的蠕变特性。首先,对0.025 Hz/0V~60 V正弦电压输入信号进行了5种倍数关系的离散化,分析了蠕变与输入电压的关系以及蠕变与输入台阶电压压差的关系。然后,按照提出的数学模型,在符合文中所述两种准则前提下,对蠕变起始时间进行了预测。实验结果表明,上升段蠕变变化范围最大出现在台阶电压等于47.7 V时,而下降段蠕变变化范围最大出现在台阶电压等于12.3 V;相比于20个台阶,320个台阶对应的上升段最大蠕变增长量下降了899.5%,而在下降段最大蠕变的这一比值增大到了936.9%。使用所提公式对蠕变起始时间进行预测,得到当台阶电压为12.3 V时,20、40、80、160、320个台阶的蠕变起始时间分别在0.959、0.911、0.813、0.664和0.016 ms以后。蠕变与输入电压以及蠕变与输入台阶电压差值都是迟滞关系,并且台阶蠕变随着台阶数量的增加而减小。不同离散化的电压信号改变了蠕变的起始时间,台阶电压数量越多,蠕变起始时间越早。     

一种行星探索车举升机构设计

介绍了摇杆一转向架悬挂系统的收缩和展开状态,根据展开过程,分析了举升机构的任务。采用双重四杆机构设计举升机构,以满足摇杆一转向架展开过程中两大步骤的需要。详细介绍了该举升机构的工作原理和双重四杆机构的切换过程。最后对举升过程中的四杆机构参数进行了分析设计,给出了机构参数设计模型,利用该模型可以对四杆机构的受力进行优化设计。     

Structure synthesis and statics analysis of a foldable stair

This paper proposes a foldable stair that can be deployed for use and folded for conservation and investigates the geometry and statics of the structure. It not only has the moving flexibility of a mechanism but also has the high stiffness and high strength of statically indeterminate structures. The primary linkage is a deployable scissor-like element which forms the staircase after expanding. This paper starts with the analysis of the geometry of planar four- and six-bar mechanisms and processes to synthesize the foldable stair and then investigates its statics. The paper further investigates redundant inner forces of every link based on the second Castigliano theorem, develops a foldable stair model, assembles and manufactures. Working experiments verify the theoretical results and the outstanding advantages over the general fixed stairs.     

多适应性轮履复合载物移动系统的设计

针对复杂的非结构化工作环境,为提高载物移动能力,提出了一种具有多适应性的新型轮履复合式移动系统。该移动系统由变径步行轮和履带系统组成,既发挥了轮式结构平地行走的转弯灵活性和运动高效的特点,又结合了履带式结构爬坡时良好的稳定性和适应性。同时,为进一步提高爬坡时货物的安全性,设计了自适应载物升降平台,通过陀螺仪运用卡尔曼算法进行平台倾角的闭环控制,实现了平台的水平载物。运用RECURDYN软件进行动力学仿真,并制作了实物模型实施了验证,结果表明：该移动系统具有较好的复杂工作环境的适应性和载物的平稳性。     

机械爬楼装置的传动系统方案研究

轨道式机械爬楼装置是在楼梯上安装轨道,使轮椅等装置沿轨道实现上下楼的运动。根据楼梯扶手的形状不同,轨道有弯轨和直轨之分,而且直轨和弯轨的轨道截面形状多种多样,与之配合的传动系统也各不相同。本文将对国内外直轨和弯轨形式爬楼梯装置的传动系统及其原理进行分析和研究。