Design and Study of a Stair Climbing Robots with Two Wheels and a "4R+2P" Pattern

被引：5

作者：

Wu, Guanwu ^{[1
]}

Wu, Liqun ^{[1
]}

Wang, Hongcheng ^{[1
]}

Yang, Wenzhe ^{[1
]}

Wang, Zeen ^{[1
]}

Zhang, Zheng ^{[1
]}

Shen, Tongzhou ^{[1
]}

机构：

[1] Hangzhou Dianzi Univ, Sch Mech Engn, Hangzhou 310018, Peoples R China

来源：

MACHINES | 2022年 / 10卷 / 08期

基金：

中国国家自然科学基金;

关键词：

two-wheeled robot; stairs climbing; approaching; lifting; putting and retraction; constraint relation; multiscene; MOBILE ROBOT; KINEMATICS;

D O I：

10.3390/machines10080631

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

Aimed at the current major problems of "slipping, misstep and misplace" in the robot stair climbing process and at reaching the goals of being "flexible, adaptive and stable" in multiple scenarios, a two-wheeled robot with a "4R+2P" pattern that can independently climb different structures of stairs is proposed, and a gait pattern for stair climbing through a four-step cycle of "approaching, lifting, putting and retraction" based on this pattern is proposed. Relevant kinematic and dynamic models are established to study the constraint relation. In the experiment, the robot goes up and down different stairs. The simulation and experimental results showed that the two-wheeled robot with a "4R+2P" configuration fundamentally realized up-down stair climbing, adaptive steering and multiscene functions.

引用

页数：19

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