可重构履带轮系机器人实现高效越障与原地转向。
A Reconfigurable Rocker-Bogie Robot for High Step Climbing and Turning
- 通过主动摆动车架实现四轮与六轮模式切换，减少驱动器数量。
- 原地转向速度是传统方案的五倍，平均轮毂扭矩仅需17%。
- 成功攀爬40厘米高台阶，平均用时6.4秒，适合复杂地形作业。
本文提出一种可重构的摇杆-履带机构，可在少驱动器条件下实现高效转向并保持强越障能力。通过在履带关节处安装电机，主动上下摆动履带，系统可在四轮与六轮配置间切换。后端摇杆上安装全向轮，在四轮模式下基于差速驱动模型实现平滑转向。实验验证表明，该机构可实现零半径转向，速度超过配备六只非转向抓地轮的传统摇杆-履带机构的五倍，且平均轮毂扭矩仅为约17%。此外，机器人成功攀爬40厘米高台阶，平均耗时6.4秒，证实其具备优异的转向与越障性能。
原文摘要 · Abstract (English)
This study proposes a reconfigurable rocker-bogie mechanism that achieves efficient turning motion with a small number of actuators while maintaining high step-climbing capability. By installing motors at the bogie joints and actively swinging up and down bogies, the system enables switching between four-wheel and six-wheel configurations. Omnidirectional wheels are mounted on the rear ends of the rockers, allowing smooth turning in the four-wheel configuration based on a differential-drive model. Experimental evaluation using a prototype robot demonstrated that the proposed mechanism achieves zero-radius turning at a speed more than five times that of a conventional rocker-bogie mechanism equipped with six non-steerable grip wheels, while requiring only approximately 17% of the total average wheel torque. In addition, the robot successfully climbed a 40 cm step with an average climbing time of 6.4 s, confirming its high turning and step-climbing performance.
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