一种用于高台阶攀爬和转向的可重构摇臂-转向架机器人
A Reconfigurable Rocker-Bogie Robot for High Step Climbing and Turning
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中文总结 AI 辅助
提出一种可重构摇臂-转向架机构，通过少量电机实现高效转向并保持高台阶攀爬能力，实验验证了零半径转向速度和台阶攀爬性能。
中文摘要 AI 辅助
本研究提出一种可重构摇臂-转向架机构，该机构以少量执行器实现高效转向运动，同时保持高台阶攀爬能力。通过在转向架关节处安装电机并主动上下摆动转向架，系统能够在四轮和六轮配置之间切换。全向轮安装在摇臂后端，基于差速驱动模型在四轮配置下实现平滑转向。使用原型机器人进行的实验评估表明，所提出的机构实现了零半径转向，速度是配备六个不可转向抓地轮的传统摇臂-转向架机构的五倍以上，同时仅需约17%的总平均车轮扭矩。此外，机器人成功攀爬了40厘米高的台阶，平均攀爬时间为6.4秒，证实了其高转向和台阶攀爬性能。
英文摘要
This study proposes a reconfigurable rocker-bogie mechanism that achieves efficient turning motion with a small number of actuators while maintaining high step-climbing capability. By installing motors at the bogie joints and actively swinging up and down bogies, the system enables switching between four-wheel and six-wheel configurations. Omnidirectional wheels are mounted on the rear ends of the rockers, allowing smooth turning in the four-wheel configuration based on a differential-drive model. Experimental evaluation using a prototype robot demonstrated that the proposed mechanism achieves zero-radius turning at a speed more than five times that of a conventional rocker-bogie mechanism equipped with six non-steerable grip wheels, while requiring only approximately 17% of the total average wheel torque. In addition, the robot successfully climbed a 40 cm step with an average climbing time of 6.4 s, confirming its high turning and step-climbing performance.
发表机构
- University of Tsukuba（筑波大学）
- Team MarsMars
机构由 AI 辅助整理，请以论文原文为准。
