一种新型轮腿复合球形机器人及其运动性能分析
PDF下载 (168)沈 轲,柳 丽,张嘉泽,景大程.一种新型轮腿复合球形机器人及其运动性能分析 [J].宁波大学学报(理工版),2025,38(3):25-34.DOI:10.20098/j.cnki.1001-5132.2024.0501
<span lang="EN-US" style="white-space:normal,font-size:0.pt,font-family:",">SHEN Ke,LIU Li,ZHANG Jiaze,JING Dacheng.A novel wheel-legged spherical robot and its mobility performance analysis[J].Journal of Ningbo University(Natural Science & Engineering Edition),2025,38(3):25-34.DOI:10.20098/j.cnki.1001-5132.2024.0501
| Title: | A novel wheel-legged spherical robot and its mobility performance analysis |
| 作者: | 沈 轲, 柳 丽, 张嘉泽, 景大程, LIU Li, ZHANG Jiaze, JING Dacheng |
| Author(s): | <span lang="EN-US" style="white-space:normal, font-size:0.pt, font-family:", ">SHEN Ke, LIU Li, ZHANG Jiaze, JING Dacheng |
| 关键词: | 球形机器人; 轮腿复合; 构型设计; 动力学分析; 性能测试  |
| Keywords: | spherical robot; wheel-legged composite; configuration design; dynamic analysis; performance testing |
| 分类号: | TH242 |
| DOI: | 10.20098/j.cnki.1001-5132.2024.0501 |
| 文献标识码: | A |
| 摘要: | 为提升球腿复合式机器人在较为平坦地形上的运动性能, 提出一种轮腿复合球形机器人, 其集成球形、轮式和四足三种形态运动模式。首先通过建立球形、轮式形态的动力学模型分析了机器人最小转弯半径以及爬坡性能, 其次研究了腿部机构参数对机器人球形态运动性能的影响, 最后制作试验样机并测试其运动性能。结果表明, 所设计的轮腿复合球形机器人在平坦地形上具有较小转弯半径, 平均通行速度为1.935m·s–1, 爬坡角度可达24°, 相比现有球腿复合式机器人具有明显优势。 |
| Abstract: | To enhance the mobility performance of legged spherical robots on relatively flat terrains, this paper proposes a wheel-legged spherical robot that integrates three modes of locomotion: spherical, wheeled, and quadrupedal. Firstly, dynamic models of the spherical and wheeled modes are established to analyze the robot’s minimum turning radius and climbing abilities. Secondly, the study investigates the impact of leg mechanism parameters on the mobility performance of the robot in its spherical mode. Finally, a prototype is manufactured for the performance test of its locomotion. The results demonstrate that the designed robot possesses a smaller turning radius, average traversal speed of 1.935m·s–1, and can climb slopes of up to 24°. This shows a significant advantage over existing legged spherical robots. |
| 参考文献 /References: | [1] MAHBOUBI S, FAKHRABADI M M S, GHANBARI A. Design and implementation of a novel hybrid quadruped spherical mobile robot[J]. Robotics and autonomous systems, 2013, 61(2):184-194. [2] AOKI T, ASAMI K, ITO S, et al. Development of quadruped walking robot with spherical shell: improvement of climbing over a step[J]. Robomech journal, 2020, 7(1):1-12. [3] PHIPPS C C, MINOR M A. Introducing the hex-a-ball, a hybrid locomotion terrain adaptive walking and rolling robot[M]//TOKHI M O, VIRK G S, HOSSAIN M A. Climbing and walking robots. Berlin: Springer, 2006: 525-532. [4] HALVORSEN K. MorpHex becomes boca bearing company’s 2012 innovation contest winner[EB/OL]. [2023-04-14]. http://zentasrobots.com/robot-projects/mor- phex-mkii/. [5] GILLES S. Design and development of a morphing spherical robot[D]. Edwardsville, USA: Southern Illinois University Edwardsville, 2022. [6] 倪聪, 杨崇倡, 刘香玉, 等. 基于Klann连杆的球腿复合机器人的设计与研究[J]. 机器人, 2020, 42(4):436- 447. [7] JIA W, HUANG Z, SUN Y, et al. Toward a novel deformable robot mechanism to transition between spherical rolling and quadruped walking[C]//2017 IEEE International Conference on Robotics and Biomimetics (ROBIO). Macao, China. IEEE, 2017:1539-1544. [8] ZHONG Y H, WANG R X, FENG H S, et al. Analysis and research of quadruped robot’s legs: a comprehensive review[J]. International journal of advanced robotic systems, 2019, 16(3):4148. [9] BISWAL P, MOHANTY P K. Development of quadruped walking robots: a review[J]. Ain shams engineering journal, 2021, 12(2):2017-2031. [10] LI M G, SUN H X, MA L, et al. Special spherical mobile robot for planetary surface exploration: a review[J]. International journal of advanced robotic systems, 2023, 20(2):162207. [11] TAGLIAVINI L, COLUCCI G, BOTTA A, et al. Wheeled mobile robots: state of the art overview and kinematic comparison among three omnidirectional locomotion strategies[J]. Journal of intelligent & robotic systems, 2022, 106(3):57. [12] CHEN Z H, LI J H, WANG S K, et al. Flexible gait transition for six wheel-legged robot with unstructured terrains[J]. Robotics and autonomous systems, 2022, 150: 103989. [13] 于源, 吴怀松, 焦志伟, 等. 滚-跳多运动模式球形机器人的动力学仿真研究[J]. 北京化工大学学报(自然科学版), 2023, 50(1):89-96. [14] NI L W, WU L, ZHANG H S. Parameters uncertainty analysis of posture control of a four-wheel-legged robot with series slow active suspension system[J]. Mechanism and machine theory, 2022, 175:104966. [15] 董小闵, 安国鹏, 于建强, 等. 四足机器人五杆单腿机构性能分析及轨迹规划[J]. 机械设计与制造, 2022, 378(8):292-296. [16] 曾鹏, 许逵, 郑功倍, 等. 双轮驱动球形机器人的动力学建模与仿真[J]. 计算机仿真, 2021, 38(4):276-280, 301. [17] WANG F T, LI C G, NIU S H, et al. Design and analysis of a spherical robot with rolling and jumping modes for deep space exploration[J]. Machines, 2022, 10(2):126. [18] LIU Y F, WANG Y X, GUAN X Q, et al. Multi-terrain velocity control of the spherical robot by online obtaining the uncertainties in the dynamics[J]. IEEE robotics and automation letters, 2022, 7(2):2732-2739. [19] PATEL S, RAWAT R, SHANTANU, et al. Study of steering system for an electric trike ackerman steering [C]//RAO V V, KUMARASWAMY A, KALRA S, et al. Computational and Experimental Methods in Mechanical Engineering: Proceedings of ICCEMME 2021. Springer Singapore, 2022:9-18. [20] 马龙, 孙汉旭, 李明刚, 等. 质心径向可变球形机器人的设计与运动分析[J]. 机械工程学报, 2022, 58(5):44-56.
|
| 备注/Memo: | 收稿日期: 2024−05−01 宁波大学学报（理工版）网址: http://journallg.nbu.edu.cn/ 基金项目: 浙江省高等教育“十四五”教改项目（JG20220169）; 宁波大学教研项目（SXJXGG2023008） 第一作者: 沈 轲, 硕士研究生, 主要研究方向: 移动机器人机构学。E-mail: woshijames10@gmail.com *通信作者: 柳 丽, 副教授, 主要研究方向: 机构设计与分析、增强现实。E-mail: liuli@nbu.edu.cn 宁波大学学报（理工版）网址：http://journallg.nbu.edu.cn/ |
