张硕,姚建涛,许允斗,朱海啸,韩博,赵永生.形态可重构移动机器人行走机构设计与分析[J].农业机械学报,2019,50(8):418-426.
ZHANG Shuo,YAO Jiantao,XU Yundou,ZHU Haixiao,HAN Bo,ZHAO Yongsheng.Design and Analysis of Moving Mechanism of Shape Reconfigurable Mobile Robot[J].Transactions of the Chinese Society for Agricultural Machinery,2019,50(8):418-426.
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形态可重构移动机器人行走机构设计与分析   [下载全文]
Design and Analysis of Moving Mechanism of Shape Reconfigurable Mobile Robot   [Download Pdf][in English]
投稿时间:2019-06-04  
DOI:10.6041/j.issn.1000-1298.2019.08.047
中文关键词:  形态可重构  轮/履形态转换装置  运动学  动力学  仿真验证
基金项目:国家重点研发计划项目(2017YFE0112200)、国家自然科学基金项目(51675458)、河北省研究生创新项目(CXZZBS2019050)和燕山大学2019年大学生课外科研立项项目
作者单位
张硕 燕山大学 
姚建涛 燕山大学 
许允斗 燕山大学 
朱海啸 燕山大学 
韩博 燕山大学 
赵永生 燕山大学 
中文摘要:基于用移动机器人代替农民在农田复杂环境下进行劳作、减轻农民作业负担的理念,提出一种轮/履形态可重构移动机器人。该移动机器人由4个相同结构的轮/履形态可重构行走单元以及车体组成,具有轮式和履带式2种行走姿态,以便适应野外复杂地形。轮/履运动形态的可重构可以通过轮/履形态转换装置实现。建立了形态可重构单元的运动学模型、数学模型以及动力学模型,并推导了行走单元的数学模型,得到行走单元机器人在攀越台阶越障时机器人摆杆角度与台阶高度h的关系,以及能够攀爬的坡度范围。在Simulink以及ADAMS中建立了行走单元虚拟样机以及仿真环境,并设计了样机。通过对虚拟样机仿真以及Matlab理论值计算,末端速度和加速度的仿真值与理论值误差的数量级仅在10-8~10-6之间,验证了其数学模型以及运动学模型的正确性。
ZHANG Shuo  YAO Jiantao  XU Yundou  ZHU Haixiao  HAN Bo  ZHAO Yongsheng
Yanshan University,Yanshan University,Yanshan University,Yanshan University,Yanshan University and Yanshan University
Key Words:shape reconfigurable  wheel/track shape conversion device  kinematics  dynamics  simulation verification
Abstract:Based on the idea of using mobile robots instead of farmers to work in the complex environment of farmland and reducing the burden on farmers, a type of reconfigurable mobile robot with wheel/track shape was proposed. Four wheel/track configurations of the same structure were adopted to reconstruct the walking unit and the vehicle body, which had two walking postures, a wheel type and a crawler type, to adapt to the complex terrain in the field. The reconfigurability of the wheel/track motion pattern was achieved by the wheel/track shape conversion device. The mathematical model of the walking unit was derived, and the relationship between angle of swinging rod of robot and height h of step and range of slope that can climb can be obtained when the walking unit robot overcame the obstacle. The virtual prototype and simulation environment of the walking unit were established in Simulink and ADAMS, and the prototype was developed. And calculated by the error formula, the simulated value and the theoretical value of the error were between 10-8 and 10-6. The driving torque error between ADAMSs simulation and theoretical values was only 126×10-5N·m, which verified the correctness of the mathematical model and obtained the driving torque required by the robot during the wheel shifting process, and provided a theoretical basis for the subsequent experimental research of this type of robot.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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