设计和控制WLR-3P:一个液压轮脚机器人
Xu Li1,2, Haoyang Yu1, Haibo Feng1
1State Key Laboratory of Robotics and System, College of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China.
Cyborg and bionic systems (Washington, D.C.)
|June 12, 2023
概括
混合动力轮腿机器人 (WLR-3P) 为救援任务提供快速移动性和地形适应性. 实验表明,其增强的设计实现了13.6公里/小时的速度和0.2米的跳跃高度.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 机械工程 机械工程
- 机械电子学是什么意思 机械电子学
背景情况:
- 灾难救援和现场勘探机器人需要平坦地形的速度和复杂表面的适应性.
- 混合式轮腿机器人 (WLR-3P) 集成了轮式和腿式机动,实现了多功能移动性.
- 现有的设计可能在平衡速度,适应性和系统可靠性方面面临限制.
研究的目的:
- 提出设计要求,以提高机器人的移动性和环境适应性.
- 详细介绍下一代混合动力轮腿机器人的设计原则和技术.
- 通过实验测试验证WLR-3P的性能.
主要方法:
- 采用3D打印技术和轻质材料,以减少重量和惯性,同时保持刚性.
- 集成了一种先进的液压驱动单元,用于高功率密度和快速启动.
- 实现微液压动力单元,无软管设计,实现自主动力和增强系统可靠性.
- 开发一个层次的分布式电力系统和复杂的控制策略.
主要成果:
- 在实验中,WLR-3P原型成功地证明了改进的移动性和环境适应性.
- 机器人在平面上达到最高时速13.6公里.
- 机器人展示了0.2米的跳跃能力,展示了其增强的地形穿越能力.
结论:
- 开发的设计原则和技术有效地提高了混合动力轮腿机器人的移动性和适应性.
- WLR-3P代表了机器人平台在苛刻的勘探和救援场景中的重大进步.
- 机器人的性能指标证实了它适合于需要速度和崎地形导航的任务.
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