一种可重构履带式机器人：通过可移动铰接点与内部质量重定位提升越障能力
A Reconfigurable Tracked Robot for Enhanced Obstacle Traversal Through Movable Articulation Point and Internal Mass Relocation
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中文总结 AI 辅助
该研究提出可重构履带式机器人TRASER，通过带带状弹簧的铰接结构与质心重定位提升越障能力，实验实现74%、66%、59%机身长度的台阶、悬空平台、壕沟越障，为履带机器人最高越障性能。
中文摘要 AI 辅助
履带式机器人广泛应用于非结构化环境，但其越障能力受前端可达性与运动稳定性之间的权衡关系的根本限制。本研究提出TRASER（Tracked Robot with Articulated Spine for Extended Reach，即带铰接脊柱的扩展可达性履带式机器人），这是一种可重构履带式机器人，能够同时重定位其铰接点和内部质量。TRASER采用一种带状弹簧机构，该机构将柔性集中在弯曲区域，同时保持其余机身的高刚度，从而提升前端可达性和质心（CoM）偏移能力。研究人员建立了几何与静态模型，分析铰接点和质心位置对台阶与壕沟越障性能的影响。实验表明，该机器人可完成占自身长度74%的台阶越障、66%的悬空平台越障以及59%的壕沟越障。据作者所知，这些结果代表了履带式移动机器人已报道的最高越障能力。
英文摘要
Tracked robots are widely used in unstructured environments; however, their obstacle traversal capability is fundamentally limited by a tradeoff between front-end reachability and locomotion stability. This study presents TRASER (Tracked Robot with Articulated Spine for Extended Reach), a reconfigurable tracked robot capable of relocating both its articulation point and internal mass. TRASER employs a tape-spring mechanism that localizes compliance to the bending region while maintaining high stiffness in the remaining body, thereby improving both front-end reachability and center-of-mass (CoM) shifting capability. Geometric and static models are developed to analyze the effects of articulation point and CoM position on step and ditch traversal performances. Experiments demonstrate step traversal, suspended-platform traversal, and ditch traversal of 74\%, 66\%, and 59\% of the robot body length, respectively. To the best of our knowledge, these results represent the highest reported obstacle traversal capabilities among tracked mobile robots.
发表机构
- Kyushu University（九州大学）
- The University of Electro-Communications（电气通信大学）
机构由 AI 辅助整理，请以论文原文为准。
