Design and analysis of a multi-configuration wheel-leg hybrid drive robot machine

IF 2.3 4区计算机科学 Q2 Computer Science

International Journal of Advanced Robotic Systems Pub Date : 2023-03-01 DOI:10.1177/17298806231163828

Feng Hou, Jiwei Yuan, Kunpeng Li, Zhouyi Wang

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引用次数: 1

Abstract

The use of robots to perform tasks in extreme environments instead of humans has gradually become important. For wider applications, robots should be able to adapt to complex environments, such as typical height/width-restricted motion spaces, raised obstacles, and ravines. The structure is the foundation of robot to move and perform tasks. In this study, a variable-attitude robot mechanism is designed and analyzed. With the link leg drive and Mecanum wheel drive, the robot has various configurations and omnidirectional motion capabilities. First, the design and analysis of the wheel drive system are performed, and the mapping relationship between the velocity of the robot and the velocity of the Mecanum wheel is clarified. Second, kinematics of the linkage drive system is analyzed, including the motion space, trajectory characteristics, and the effect of variable axle spacing on the robot motion performance. Subsequently, a simulation is used to verify the rationality of the three motion modes of the robot: walking, wheel drive, and hybrid drive. Finally, a motion simulation of several typical configuration changes in the robot is observed, and the feasibility of the robot mechanism to adapt to a complex environment is verified. This study contributes to the development and application of special advanced robots.

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多结构轮腿混合驱动机器人的设计与分析

利用机器人代替人类在极端环境中执行任务已逐渐变得重要。对于更广泛的应用，机器人应该能够适应复杂的环境，例如典型的高度/宽度限制的运动空间，凸起的障碍物和沟壑。该结构是机器人运动和执行任务的基础。本文对一种变姿态机器人机构进行了设计和分析。该机器人采用连杆腿驱动和机械轮驱动，具有多种构型和全方位运动能力。首先，对车轮驱动系统进行了设计与分析，明确了机器人速度与机械轮速度之间的映射关系。其次，分析了连杆传动系统的运动学特性，包括运动空间、轨迹特性以及变轴距对机器人运动性能的影响。随后，通过仿真验证了机器人行走、轮驱动和混合驱动三种运动模式的合理性。最后，对机器人的几种典型构型变化进行了运动仿真，验证了机器人机构适应复杂环境的可行性。该研究为特种先进机器人的开发和应用做出了贡献。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Advanced Robotic Systems ROBOTICS-

CiteScore

6.50

自引率

0.00%

发文量

审稿时长

6 months

期刊介绍： International Journal of Advanced Robotic Systems (IJARS) is a JCR ranked, peer-reviewed open access journal covering the full spectrum of robotics research. The journal is addressed to both practicing professionals and researchers in the field of robotics and its specialty areas. IJARS features fourteen topic areas each headed by a Topic Editor-in-Chief, integrating all aspects of research in robotics under the journal''s domain.