基于可控伸缩轮的移动机器人研究.docxVIP

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圆园22年第2期网址：电邮：hrbengineer@163.com

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网址：电邮：hrbengineer@163.com圆园22年第2期

基于可控伸缩轮的移动机器人研究

徐晓康1，张国伟1,2，卢秋红2，王博1，疏雅丽1

（1.上海电力大学自动化学院，上海200082；2.上海合时智能科技有限公司，上海201100）

摘要：目前移动机器人按实现爬楼梯功能的原理主要分为轮式、腿式、履带式、变形式和复合式。复合式包括轮腿式、关节履带式、轮履式等。针对移动机器人环境适应性的问题，提出一种新的楼梯攀爬结构——可控伸缩轮，可控伸缩轮结构结合了变形式和轮腿式的特点，通过内置的减速电动机驱动伸缩控制盘，伸缩控制盘通过连接件将动力传递给轮腿，使轮腿在径向一定的范围内可以交替伸缩从而实现稳定攀爬楼梯。最后对可控伸缩轮交替伸缩和基于可控伸缩轮的移动机器人的楼梯攀爬进行了仿真。仿真结果表明，可控伸缩轮可顺利交替伸缩，基于可控伸缩轮的移动机器人成功攀爬楼梯，可控伸缩轮可以提高移动机器人的越障能力，提高移动机器人的环境适应性。

关键词：可变形式；轮腿式；可控伸缩轮；爬楼梯机器人

中图分类号:TH122;TP24 文献标志码:粤 文章编号：员园园圆原圆猿猿猿（圆园22）02原园022原园5

ResearchonMobileRobotBasedonControllableTelescopicWheel

XUXiaokang1, ZHANGGuowei1,2, LUQiuhong2, WANGBo1, SHUYali1

(1.SchoolofAutomationEngineering,ShanghaiUniversityofElectricPower,Shanghai200082,China;

2.ShanghaiHRSTEKCo.,Ltd.,Shanghai201100,China)

Abstract:Accordingtotheprincipleofclimbingstairs,mobilerobotsaremainlydividedintowheeltype,legtype,crawlertype,variableformandcompoundtype.Compoundtypeincludeswheellegtype,jointcrawlertype,w