基于ADAMS的六轮自适应越障机器人的设计与研究

针对在复杂环境下对移动机器人的运动要求,设计了具有良好机动性和越障性的六轮腿复合型移动机器人。用静力学方法对机器人进行了稳定性和运动能力分析,运用虚拟样机动力学软件ADAMS构建了自适应越障机器人参数化模型,主要对机器人在两种不同障碍物条件下越障情况进行了分析,获得了机器人各部件和整体的运动学特性曲线,为机器人结构的设计与数值计算提供了理论依据。对机器人样机进行了性能测试,验证了机器人本体结构的可靠性和实用性。

Design and research for the six-wheeled adaptive mobile robot based on the ADAMS

According to the requirement of the motion of mobile robot in complex environment, the good mobility and six wheel legged mobile robot is made. Analysis on stability and kinematic model was presented by statics method, the parametric models of the mobile robot and obstacles were created using ADAMS and the surmounting analysis of mobile robots under two type obstacles were made, the dynamic characteristic curves of each body and whole body of the robot are eventually acquired, which provide theoretical foundation for design and numerical computation of the robot structure. Finally, experiments of the robot in different environments are carried out and the resultes are analyzed to verify the feasibility and validity of the system in outdoor environment.