铰接型移动机器人结构设计与性能分析

针对复杂地形环境下传统移动机器人普遍存在的稳定性不足、通过性欠佳等突出问题，通过深入探究机器人越障机理，融合被动变形车轮与柔性铰接装置，研制出一款能够被动适应复杂多变障碍地形的多驱动模块铰接型移动机器人。综合考虑机器人构型原理与运动模式，基于稳定锥方法系统构建了机器人极限姿态的稳定模型并提出其临界倾翻条件。基于凸台、沟渠以及变曲率地形下机器人通过性的深度分析，提出了一种不同地形障碍下机器人越障方法。样机实验结果表明，机器人具有良好的运动稳定性与通过性，可被动适应复杂多变障碍地形。

Structural Design and Performance Analysis of An Articulated Mobile Robot

By introducing passive deformable wheels and flexible articulation devices, a multi-drive modular articulated mobile robot has been developed that can passively adapt to complex and changing terrain. A stability model for the limiting attitude of the robot and its critical tipping conditions are derived using the stability cone method. The analysis of the robot''s passability in raised platforms, ditches and variable curvature terrain has led to different limit parameters for the obstacles that the robot can cross. Theoretical analysis and experimental results show that the robot has good stability of movement and passability and can passively adapt to complex and variable obstacle terrain.