摘要
虚拟运动中心(VCM,Virtual Center of Motion)机构实质上是一种少自由度的功能机构,根据VCM机构的特点,将其应用到被动式自适应越障机器人的设计中,提高了机器人越障性能.通过分析VCM位置与前导轮轮心的位置关系,优化了前导机构的结构参数.利用VCM的特点简化了前导机构的静力学模型,通过量化的对比分析了悬挂在前导机构的弹簧在改善机器人整体力学性能中的作用,并优化了弹簧的安装位置.试验中优化后样机可以平稳的翻越约2.1倍轮子直径高的竖直台阶障碍,并且可以连续攀登单阶1.27倍轮子直径高楼梯和自适应各种复杂地面.
The mechanism with the characteristics of virtual center of motion （VCM） is one of the limited degree of freedom （DOF） mechanisms substantively. The VCM was employed in robots which were mobile on rough terrain for its special characteristics. The front mechanism was optimized through analyzing the relation of the VCM and the center of the front wheel. The static model of the robot was simplified for the character of VCM. According to the static analysis, the parameter and the position of the spring suspension on the front mechanism were optimized through minimizing the friction coefficient of the wheels. The ground contact of all wheels at any time was guaranteed by the spring. An optimized prototype was designed and manufactured. It is able to passively overcome obstacles of up to 2.1 times of its wheel diameter and can climb stairs with steps of over 1.27 times. The advance of the passive adaptation in rough terrain was shown in the contrastive experiments.
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
2009年第2期261-265,共5页
Journal of Beijing University of Aeronautics and Astronautics
基金
新世纪优秀人才支持计划资助项目(NCET-06-0165)
