摘要
针对复杂地形越障需求,设计了一款融合轮式移动与四足跳跃功能的消防机器人。首先,完成了机器人的总体结构设计与各系统部件的分析,实现了稳定可靠的跳跃动作执行;其次,基于D-H坐标法对机械腿进行运动学建模,仿真模拟了机器人在多种跳跃工况下的完整运动过程;最后,基于CoppeliaSim平台开发了避障与路径跟踪程序,并在多种复杂路径与障碍物场景中进行仿真验证,结果表明所设计机器人具备良好的避障与寻迹能力。
To address the obstacle-surmounting requirements in complex terrains,a fire-fighting robot integrating wheeled movement and quadruped jumping functions was designed.First,the overall structural design of the robot and the analysis of each system component were completed,which realized the stable and reliable execution of jumping motions.Second,the kinematic modeling of the mechanical legs was carried out based on the Denavit-Hartenberg(D-H)coordinate method,and the complete motion process of the robot under various jumping conditions was simulated.Finally,the obstacle avoidance and path tracking program was developed based on the CoppeliaSim platform,and simulation verification was conducted in a variety of complex path and obstacle scenarios.The results show that the designed robot has excellent obstacle avoidance and path-tracking capabilities.
作者
唐传茵
李日升
闫永浩
李国军
张淼林
曲云
TANG Chuanyin;LI Risheng;YAN Yonghao;LI Guojun;ZHANG Miaolin;QU Yun(School of Mechanical Engineering and Automation,Northeast University,Shenyang 110819,Liaoning,China;Shanghai Jindun Special Vehicle Equipment Co.,Ltd.,Shanghai 201304,China;Shenyang Jietong Fire Truck Co.,Ltd.,Shenyang 110000,Liaoning,China)
出处
《农业装备与车辆工程》
2025年第12期85-93,共9页
Agricultural Equipment & Vehicle Engineering
基金
中央高校基本科研业务费(N2103028)。
关键词
消防机器人
结构设计
跳跃机构
运动学分析
避障仿真
fire fighting robot
structural design
jumping mechanism
kinematic analysis
simulation of obstacle avoidance
