可变长机械腿让搜救机器人既能快速越障又能强力作业
Dynamically Extensible and Retractable Robotic Leg Linkages for Multi-task Execution in Search and Rescue Scenarios
- 用五杆连杆结构实现腿长动态伸缩，切换高机动与高力输出模式
- 实测表明该设计在不同构型下可兼顾步幅、出力和稳定性
- 适合需要越障与重物拖拽的复杂搜救场景
搜救机器人需快速穿越复杂地形并完成高强度救援任务，要求兼具地形适应性与可控高力输出。现有平台极少能同时满足这两项需求，而腿式机器人虽擅越障，却难实现类似轮式传动的可变高力输出。本文提出一种新型可动态伸缩的机器人腿结构，基于五杆连杆机构，通过几何变换实现高度优势与力量优势构型的机械切换。搭建实验平台对不同连杆几何与工作模式下的腿性能进行评估，结合实测与解析分析，验证了步幅、输出力与稳定性的优化表现。结果表明，该可变形腿为兼具快速越障与高效救援能力的搜救机器人提供了可行路径。
原文摘要 · Abstract (English)
Search and rescue (SAR) robots are required to quickly traverse terrain and perform high-force rescue tasks, necessitating both terrain adaptability and controlled high-force output. Few platforms exist today for SAR, and fewer still have the ability to cover both tasks of terrain adaptability and high-force output when performing extraction. While legged robots offer significant ability to traverse uneven terrain, they typically are unable to incorporate mechanisms that provide variable high-force outputs, unlike traditional wheel-based drive trains. This work introduces a novel concept for a dynamically extensible and retractable robot leg. Leveraging a dynamically extensible and retractable five-bar linkage design, it allows for mechanically switching between height-advantaged and force-advantaged configurations via a geometric transformation. A testbed evaluated leg performance across linkage geometries and operating modes, with empirical and analytical analyses conducted on stride length, force output, and stability. The results demonstrate that the morphing leg offers a promising path toward SAR robots that can both navigate terrain quickly and perform rescue tasks effectively.
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