| 恒定轮距的多连杆式独立悬挂系统设计 |
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| 引用本文： | 李荣华,杨景山,郑宇锋,周唯. 恒定轮距的多连杆式独立悬挂系统设计[J]. 中国机械工程, 2023, 34(2): 148-156. DOI: 10.3969/j.issn.1004-132X.2023.02.004 |
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| 作者姓名： | 李荣华 杨景山 郑宇锋 周唯 |
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| 作者单位： | 1.大连交通大学机械工程学院，大连，1160282.中国人民解放军91550部队，大连，116023 |
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| 基金项目： | 国家自然科学基金（41901415）；辽宁省教育厅科学研究经费项目（LJKZ0475）；国防科技重点实验室基金（2022-JCJQ-L8-015-0201) |
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| 摘 要： | 为解决全方位轮式移动机器人搭载传统悬挂装置越障行驶时，轮距变化和轮毂中心面侧倾导致机器人运动控制难度大等问题，设计了一款由平行四边形机构、偏置曲柄滑块机构和摆动摇杆机构组成的多连杆式悬挂装置。通过ADAMS软件进行了不同地形环境的动力学仿真分析与优化设计，确定了最佳连杆结构参数。实物样机试验表明，机器人越障行驶过程中的操控性能以及轮子着地性与运动精度得到提高。
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| 关 键 词： | 恒定轮距 独立悬挂 平行四边形机构 全方位移动 轮式移动机器人 |
Design of Multi-link Independent Suspension Systems with Constant Wheel Track |
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| LI Ronghua,YANG Jingshan,ZHENG Yufeng,ZHOU Wei. Design of Multi-link Independent Suspension Systems with Constant Wheel Track[J]. China Mechanical Engineering, 2023, 34(2): 148-156. DOI: 10.3969/j.issn.1004-132X.2023.02.004 |
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| Authors: | LI Ronghua YANG Jingshan ZHENG Yufeng ZHOU Wei |
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| Affiliation: | 1.School of Mechanical Engineering，Dalian Jiaotong University，Dalian，Liaoning，1160282.No.91550 Unit of the PLA，Dalian，Liaoning，116023 |
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| Abstract: | In order to solve the existed problems of difficulty in motion control for robots such as track width changes and variety range of camber increases when wheeled mobile robots equipped with conventional suspension surmounted obstacles， a novel independent linkage which was made up of parallel crank mechanisms， offset slider crank mechanisms， and oscillating guide bar mechanisms was designed. Dynamics simulations and analyses were carried out in different terrains with the software ADAMS， and the optimal length of each link was determined. Experiments of robot verified the improvement of controllability， landing ability of the wheels， and the accuracy of robot motions on obstacle surmounting. |
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| Keywords: | constant track width independent suspension parallel crank mechanism omni-directional motion wheeled mobile robot |
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