新型巡检机器人移动底盘设计及越障性能分析

doi:10.13229/j.cnki.jdxbgxb.20221184

摘要/Abstract

摘要：

针对石化行业户外巡检工作设计了一款带有新型H型平衡摇臂机构的路面自适应巡检机器人移动底盘，该底盘采用新型“4h”对称结构实现底盘的四轮驱动和转向操作。在介绍底盘总体结构的基础上，分析了底盘驱动机构和转向机构的设计原理，建立了底盘阿克曼4WS转向和原地转向的理论模型，为机器人底盘运动控制提供了理论依据。对机器人底盘的单侧越障过程进行理论分析和仿真，并与普通一体式底盘越障过程进行仿真对比，研究了越障过程中底盘的行驶稳定性。最后，进行了底盘样机的转向模式实验和单侧越障实验，结果表明：该移动底盘能实现驱动和转向模式的切换，在进行单侧越障时底盘运动姿态平稳，具有良好的路面自适应能力和越障性能。

关键词: 车辆工程, 移动机器人, 底盘, 阿克曼转向, 原地转向, 越障性能

Abstract:

A new type of mobile chassis with H-type balancing rocker mechanism for road adaptive inspection robot is designed for outdoor inspection in the petrochemical industry， which adopts a new “4h” symmetrical structure to realize four-wheel drive and steering operation of the chassis. Based on the introduction of the overall structure of the chassis， the design principles of the chassis drive mechanism and steering mechanism are analyzed， and the theoretical models of the chassis Ackermann 4WS steering and in-situ steering are established to provide a theoretical basis for the motion control of the robot chassis. The theoretical analysis and simulation of the unilateral obstacle-surmounting process of the robot chassis were carried out， and the simulation comparison with the obstacle-surmounting process of the common integrated chassis was conducted to study the driving stability of the chassis during the obstacle-surmounting process. Finally， the steering mode experiment and unilateral obstacle surmounting experiment of the chassis prototype were conducted. The results show that the mobile chassis can realize the switching of drive and steering modes， and the chassis has a smooth motion attitude when conducting unilateral obstacle surmounting， with good road self-adaptive ability and obstacle surmounting performance.

Key words: vehicle engineering, mobile robot, chassis, Ackerman steering, in-situ steering, obstacle surmounting performance

中图分类号:

TP242.2

聂建军,侯军凯,解晓琳,鄢鸿桢. 新型巡检机器人移动底盘设计及越障性能分析[J]. 吉林大学学报(工学版), 2024, 54(2): 356-364.

Jian-jun NIE,Jun-kai HOU,Xiao-lin XIE,Hong-zhen YAN. Design and obstacle surmounting performance analysis of a novel mobile chassis for inspection robot[J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(2): 356-364.

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序号	名称	参数
1	整车质量/kg	260
2	整车尺寸/mm	1170×750×400
3	最大爬坡度/（°）	15
4	最小越障高度/mm	50
5	驱动电机功率/kW	0.4
6	转向电机功率/kW	0.2
7	车轮半径/mm	155

运行条件		理论转角/（°）		实际转角/（°）
转向模式	底盘转向角度/（°）	内侧车轮	外侧车轮	内侧车轮	外侧车轮
阿克曼4WS转向	10	10.73	9.36	10.53	9.66
原地转向	—	68.43	68.43	68.66	68.06