School of Mechanical Electronic & Information Engineering, China University of Mining and Technology-Beijing, Beijing 100089, China.
Sensors (Basel). 2022 Sep 16;22(18):6991. doi: 10.3390/s22186991.
The ability of an off-road robot to traverse obstacles determines whether the robot can complete complex environmental tasks. In order to improve the off-road ability of off-road robots, this paper proposes a new design idea, in which four hub motors are the power system of the robot, the steering system of the robot is composed of a steering machine and a stepping motor, and a five degree of freedom robot model is established. The body structure is designed according to the characteristics of arthropods. The body structure is divided into three modules, and the connecting rod is used as the joint system of the robot to connect the three parts. The body can deform when facing complex obstacles, so as to adapt to different terrains. Then the body structure is simplified, and a mathematical model is established to describe the mathematical relationship between body joint changes. In order to verify the ability of the adaptive all-terrain cross-country robot to traverse obstacles, the load-bearing experiment and obstacle-crossing simulation experiment were carried out through Adams software, and the continuous traversing performance at low obstacles and the ability to break through high obstacles were tested, respectively. The experimental results prove that the designed adaptive all-terrain off-road robot is feasible, has good carrying capacity, and has good passability in the face of low obstacles and high obstacles. Using Ansys software to perform finite element analysis on the wheel connection, the experimental results show that the strength meets the material strength requirements. Finally, a real vehicle test is carried out to verify the correctness of the simulation results.
越野机器人跨越障碍物的能力决定了机器人是否能够完成复杂的环境任务。为了提高越野机器人的越野能力，本文提出了一种新的设计思路，其中四个轮毂电机作为机器人的动力系统，机器人的转向系统由转向机和步进电机组成，并建立了一个五自由度机器人模型。车身结构根据节肢动物的特点进行设计。车身结构分为三个模块，连杆作为机器人的关节系统连接三个部分。车身在面对复杂障碍物时可以变形，以适应不同的地形。然后简化车身结构，建立数学模型来描述车身关节变化的数学关系。为了验证自适应全地形越障机器人跨越障碍物的能力，通过 Adams 软件进行了承载实验和越障模拟实验，分别测试了低障碍物连续越障性能和高障碍物突破能力。实验结果证明，设计的自适应全地形越野机器人是可行的，具有良好的承载能力，在面对低障碍物和高障碍物时具有良好的通过性。使用 Ansys 软件对车轮连接进行有限元分析，实验结果表明强度满足材料强度要求。最后进行了实车测试，验证了仿真结果的正确性。
