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

Abstract

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

CLC Number:

TP242.2

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.

Figures/Tables 12

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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

Design and obstacle surmounting performance analysis of a novel mobile chassis for inspection robot

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