| 引用本文: | 张湘,张立杰,潘存云,等.基于球齿轮的新型轮腿复合式移动平台设计研究.[J].国防科技大学学报,2008,30(4):98-102.[点击复制] |
| ZHANG Xiang,ZHANG Lijie,PAN Cunyun,et al.A New Wheel-leg Hybrid Mobile Platform Based on the Spherical Gear[J].Journal of National University of Defense Technology,2008,30(4):98-102[点击复制] |
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| 基于球齿轮的新型轮腿复合式移动平台设计研究 |
| 张湘, 张立杰, 潘存云, 李明宇 |
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(国防科技大学 机电工程与自动化学院，湖南 长沙 410073)
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| 摘要: |
| 复合式移动系统是当前移动机器人研究的热点之一。总结了已有的一些轮－腿复合式移动系统的研究成果及结构特点，提出一种基于球齿轮机构的新型轮-腿复合式移动平台的结构设计方案，这种新型移动平台的轮腿机构具有不同于已有轮－腿复合式移动系统独特的运动特征，在结构上可实现“轮”、“腿”的真正融合，使得平台具有轮式、腿式和轮－腿复合三种移动模式，可实现直行、斜行、小半径转弯甚至原地转弯等多种运动姿态。对轮腿机构进行了计算机虚拟模型运动仿真研究，并对平台样机进行了姿态调整实验，结果表明这种新型移动平台能够实现设定的多种复杂运动姿态。 |
| 关键词: 球齿轮 轮腿复合式 复合式移动系统 移动平台 轮腿机构 |
| DOI： |
| 投稿日期：2008-03-20 |
| 基金项目:国家自然科学基金资助项目(50475058) |
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| A New Wheel-leg Hybrid Mobile Platform Based on the Spherical Gear |
| ZHANG Xiang, ZHANG Lijie, PAN Cunyun, LI Mingyu |
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(College of Mechatronics Engineering and Automation, National Univ. of Defense Technology, Changsha 410073，China)
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| Abstract: |
| The hybrid locomotion system is a hotspot in mobile robot research. This paper firstly gives a brief review of the achievements accomplished in wheel-leg hybrid mobile platform, and the structural characters. Based on the spherical gear mechanism, a new mobile platform with wheel-leg hybrid mechanism is put forward. The wheel-leg mechanism has a novel character, that is, the wheel mode and the leg mode can be fused not only in structure but also in their function. As a result, the mobile platform has three mobile modes: independent wheel mode, independent leg mode and wheel-leg-fusion mode. The mobile platform can realize several mobile poses such as straight moving, sloping moving, turning in a smaller radius and even turning-in-place. The current design was testified by the results of simulation using virtual prototype technology and experiments based on the wheel-leg-system and the mobile platform physical prototype. |
| Keywords: the spherical gear the wheel-leg hybrid mode the hybrid locomotion system mobile platform wheel-leg hybrid mechanism |
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