Design and Analysis of a Bi-directional Transformable Wheel Robot Trimode
Design and Analysis of a Bi-directional Transformable Wheel Robot Trimode
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双向变形轮机器人三模设计与分析
DOI：
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发表时间：
2021
期刊：
影响因子：
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通讯作者：
Weizhong Guo
中科院分区：
文献类型：
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作者：
Qiwei Xu;Hao Xu;K. Xiong;Qinqin Zhou;Weizhong Guo
介绍了一种具有三种运动方式的新型可变形轮式机器人。在四杆机构设计的基础上，该可变形车轮可以从圆形车轮转换为顺时针(顺时针)腿轮模式和逆时针(逆时针)腿轮模式。当机器人克服前进和后退方向的台阶等障碍时，这两种步行车轮模式都能获得良好的越障性能。为了提高步行式车轮的越障能力，建立了车轮形状的数学表达式，用于车轮设计变量的选择。分析了机器人在跳跃场景中的动力学模型，确定并减小了电机的力矩负载。最后，开发了机器人的两个样机。通过3D打印制作的前期样机验证了可变形车轮的跨步能力。然后，在第二个样机中，提高了机器人底盘的结构强度和硬件的健壮性，可以在合成孔径雷达和室内服务任务中发挥作用。总体来说，样机在CW/CCW步行车轮模式下可以克服超过车轮半径2倍的台阶，在圆形车轮模式下的最大移动速度为3.15米/S(约为机器人每秒长度的5.83倍)。
This article presents a novel transformable wheeled robot with three motion modes. Based on the four-bar mechanism design, the transformable wheel can transform into CW (clockwise) legged wheel mode and CCW (counterclock-wise) legged wheel mode from the circular wheel. Both legged wheel modes achieve good obstacle-climbing performance when the robot overcomes obstacles such as steps in the forward and backward directions. Mathematical expression of shape of the transformable wheel is established for design variables selection of the wheel to improve the obstacle-overcoming ability of the legged wheel modes. Dynamics model of the robot in the step-overcoming scene is analyzed to determine and reduce the torque load of the motor. Finally, two prototypes of the robot are developed. The early-stage prototype made by 3D printing verifies the step-overcoming ability of the transformable wheel. Then, structural strength of the robot chassis and the robustness of the hardware are improved in the second prototype, which can play a role in SAR and indoor service tasks. In general, the prototype can overcome steps with the height of more than 2 times the radius of the wheel in CW/CCW legged wheel mode and move at a maximum speed of 3.15 m/s in circular wheel mode (about 5.83 times the length of the robot per second).