可变形轮腿模块让机器人跨地形运输更高效。
Ubiquitous Field Transportation Robots with Robust Wheel-Leg Transformable Modules
- 用自锁电推杆驱动模块，实现轮腿模式精准稳定切换。
- 六足型机器人可在崎岖户外运载重物，四轮型可爬楼梯。
- 通过建模优化结构参数，实验验证性能优越。
本文介绍两款具备可变形轮腿模块的野外运输机器人。两者均可在复杂地形中平滑切换运行模式。SWhegPro配备六条S形腿，适用于崎岖不平的户外环境运输负载；SWhegPro3采用四组三叶轮结构，在室内场景下表现出优异的爬楼能力。与传统齿轮驱动机构不同，所设计的模块化轮腿由自锁电推杆驱动，可在高负载下实现精确、稳定的模式切换，显著提升机器人在腿式模式下的承载能力。研究分析了地形参数变化对轮腿模块运行的影响，基于简化运动学模型推导数学关系，提出优化机器人参数及轮腿结构参数的方法。通过仿真与实地实验验证了设计与控制策略的有效性，并借助传感器数据记录与评估方法，对两款机器人的工作性能进行量化分析。
原文摘要 · Abstract (English)
This paper introduces two field transportation robots. Both robots are equipped with transformable wheel-leg modules, which can smoothly switch between operation modes and can work in various challenging terrains. SWhegPro, with six S-shaped legs, enables transporting loads in challenging uneven outdoor terrains. SWhegPro3, featuring four three-impeller wheels, has surprising stair-climbing performance in indoor scenarios. Different from ordinary gear-driven transformable mechanisms, the modular wheels we designed driven by self-locking electric push rods can switch modes accurately and stably with high loads, significantly improving the load capacity of the robot in leg mode. This study analyzes the robot's wheel-leg module operation when the terrain parameters change. Through the derivation of mathematical models and calculations based on simplified kinematic models, a method for optimizing the robot parameters and wheel-leg structure parameters is finally proposed.The design and control strategy are then verified through simulations and field experiments in various complex terrains, and the working performance of the two field transportation robots is calculated and analyzed by recording sensor data and proposing evaluation methods.
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