Structural Design and Obstacle-surmounting Dynamics Research of Six-wheeled Rocker-type Mobile Robot

被引：0
|
作者：
Shang Z. [1 ,2 ,3 ]
Wang T. [1 ,2 ]
Xu Y. [4 ]
Wu Y. [5 ]
Shao P. [6 ]
Shao S. [1 ,2 ]
机构：
[1] State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Liaoning, Shenyang
[2] Institute for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Liaoning, Shenyang
[3] School of Mechanical Engineering and Automation, Northeastern University, Liaoning, Shenyang
[4] State Key Laboratory of Coal Mine Safety Technology, Shenyang Research Institute, China Coal Technology & Engineering Group, Liaoning, Fushun
[5] Zhejiang Blue Arrow Space Technology Co. Ltd., Zhejiang, Jiaxing
[6] Shenyang Aerospace Xinguang Group Co. Ltd., Liaoning, Shenyang
来源：
Binggong Xuebao/Acta Armamentarii | 2023年 / 44卷 / 11期
关键词：
dynamics; mobile robot; obstacle-surmounting performance; rocker;
D O I：
10.12382/bgxb.2022.0825
中图分类号：
学科分类号：
摘要：
A passive obstacle-surmounting six-wheeled rocker-type mobile robot is roposed to improve the obstacle-surmounting performance of mobile robots in complex terrain environment. The obstacle-surmounting performance of the robot is studied for climbing steps. The relationship between the structural parameters and the obstacle-surmounting height when the robot does not have the bottom support phenomenon is obtained from the analysis of geometric conditions, and the key obstacle-surmounting process of the robot is analyzed. The obstacle-surmounting dynamics models of front wheels, middle wheels and rear wheels are established. The influences of the robot's speed, acceleration, adhesion coefficient and the position of the center of gravity on the output torque of hub motor are analyzed based on the dynamics models. The passing capability of robot is verified by using the prototype experiment and ADAMS simulation software, and the output torque curve of robot's hub motor is obtained to guide the selection of motor. The research results show that the robot has good passing capability for climbing steps, which provides a design reference for improving the obstacle-surmounting performance of robot in complex terrain. © 2023 China Ordnance Society. All rights reserved.
引用
收藏
页码：3478 / 3488
页数：10
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