欠驱动式移动机器人构型综合

拓展移动机器人的构型以满足更多场景的应用有着重要意义。在颜氏机构创造性设计法的基础上对欠驱动式移动机器人悬架进行创新设计，并针对该方法的不足进行了拓展和补充。从最简化的摇臂机构出发，分别采用了增加机构构件、增加接触地面车轮数目、增加机构自由度等方法，得到了新型的欠驱动式悬架，并从中挑选了几种典型的构型进行移动性能比较和评价，为移动机器人的设计提供了新的构型和思路。

Type Synthesis of Underactuated Mobile Robot

With mobile robot being applied widely, it′s significantly important to enrich the mechanisms of mobile robot for more specific conditions.Based on the Yan′s mechanical creative design procedure, the underactuated suspension of mobile robot is redesigned , and the procedure′s insufficiency is completed .Starting with the most simplified rocker-bogie mecha-nism, several methods are used to propose new mechanisms of underactuated suspension, such as adding structural compo-nents to the mechanism , increasing the number of wheels that interacting with the ground and augmenting the DOF of the un-deractuated suspension .A couple of typical new designed mechanisms are picked out to evaluate comprehensive locomotion performance in the last.The result provides new mechanisms and methods for mobile robot designing.