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中南大学学报(自然科学版)

Journal of Central South University

第46卷    第7期    总第251期    2015年7月

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文章编号:1672-7207(2015)07-2474-07
履带式移动机器人的转向特性
饶伟,王建中,施家栋

(北京理工大学 爆炸科学与技术国家重点实验室,北京, 100081)

摘 要: 为了描述履带式移动机器人的转向特性,考虑机器人履带的横向阻力为线性分布、履带与地面的接触压力为线性分布的情形,分别建立低速和高速转向时机器人的转向阻力矩模型,以表征机器人转向时所受的地面阻力矩。基于直线运动总功率与转向运动总功率之比来表明机器人转向的难易程度,分析机器人在大半径和小半径转向运动时的灵活性。采用转向功率校核电动机的额定承载能力,分析机器人的结构参数、转向半径与转向功率的关系。研究结果表明:机器人的转向半径越大,转向越灵活,外侧履带驱动轮转向功率越小;机器人滑移角越大,转向功率校核系数越大,外侧履带驱动轮功率越大;为机器人的结构参数优化和电动机的选择提供依据。

 

关键词: 履带机器人;转向阻力矩;转向灵活性;转向功率

Research on steering characteristics of tracked mobile robot
RAO Wei, WANG Jianzhong, SHI Jiadong

State Key Laboratory of Explosion Science and Technology, Beijing Institute of Technology, Beijing 100081, China

Abstract:In order to describe the steering characteristics of the tracked mobile robot, the linear distributions for lateral resistance of the robot’s track and contact pressure of the track and ground were considered. When the robot was steered at low speed and high speed, steering resistance moment model which indicated the ground resistance torque magnitude of robot steering was established separately. The difficulty of robot steering was expressed in terms of the ratio of total power of linear motion and steering movement. Flexibility of the robot was analyzed in a large radius and small radius steering movement. Rated load capacity of the motor was checked by the steering power. Relations structural parameters of the robot, turning radius and steering power were analyzed. Relations of structural parameters of the robot, turning radius and steering power were analyzed. The results show that the larger steering radius of the robot is, the more flexible the steering is, and the smaller steering power of the driving wheel of the outside track is. And the larger slip angle of the robot is, the greater the check coefficient of steering power is, and the greater steering power of the driving wheel of the outside track is. A theoretical basis is provided for the optimization of the robot’s structural parameters and the choice of motors.

 

Key words: tracked robot; steering resistance moment; turning flexibility; turning power

中南大学学报(自然科学版)
  ISSN 1672-7207
CN 43-1426/N
ZDXZAC
中南大学学报(英文版)
  ISSN 2095-2899
CN 43-1516/TB
JCSTFT
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