一个灵感来自千足的机器人,具有被动地形适应:优化设计和性能分析.
Tan Zhang1, Chengjun Ding2, Dong Wang3
1School of Mechanical Engineering, Hebei University of Technology, Tianjin, 300000, China.
Scientific reports
|May 14, 2025
概括
一个具有被动变形轮子和灵活关节的新型千足式机器人可以在崎的地形上提高移动性. 它的设计允许适应性障碍谈判,改善复杂环境中的通行性和灵活性.
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
背景情况:
- 在非结构化地形上,移动机器人难以通过和灵活移动.
- 现有的设计往往缺乏适应复杂和可变的障碍环境的适应性.
研究的目的:
- 开发一台千足式的多驱动模块形移动机器人,增强可行性和运动灵活性.
- 提高机器人被动适应复杂和可变的障碍地形的能力.
主要方法:
- 开发一个机器人,将被动变形轮与灵活的关节装置相结合.
- 优化被动变形轮和建立一个机械模型的障碍物穿越能力.
- 通过实验分析机器人在不同地形上的可行性.
主要成果:
- 开发的机器人展示了一个合理的结构设计.
- 实验结果证实了优秀的跨越障碍的性能.
- 机器人表现出高度的运动灵活性和被动适应复杂的地形.
结论:
- 这种百足式的形移动机器人有效地提高了在非结构化地形上的可行性和运动灵活性.
- 通过集成被动变形轮和灵活的关节,可以实现自适应式导航.
- 机器人的设计通过其在跨越障碍物和适应性方面的卓越性能来验证.
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