作　　者： ; ; ; ;

机构地区： 中国科学院沈阳自动化研究所

出　　处： 《系统仿真学报》 2006年第2期409-415,共7页

摘　　要： 凹凸不平的非结构环境中,移动机器人由于系统的倾翻将导致系统损害、作业失败等一系列问题。变形机器人可以通过构形的变化来提高系统的稳定性和抗倾翻能力。理论分析了移动机器人的倾翻问题,提出稳定锥方法和倾翻性能指数对移动机器人的静、动态稳定性进行综合判定,讨论了三模块履带机器人变形过程中的倾翻稳定性变化,同时仿真比较了机器人的五种能动构形在仰俯、偏转、倾斜等干扰组合作用下的倾翻性能。理论与仿真研究为变形机器人投入到实际应用提供了参考。 It is so dangerous for the mobile robot to carry out the mission under uneven unstructured environment that if tipover incident happens, it will result in a series of problems such as system damage and mission failure. The shape shifting robot can change its configurations to adapt to the uneven terrain and improve its tipover stability. After the mobile robot＇s tipover problem has been analyzed theoretically, stability pyramid and tipover stability index have been proposed to globally determinate the mobile robot＇s static stability and dynamic stability. The tipover stability of the three-module track robot has been discussed when it is in shape shifting. And all of its five motile configurations have been tested by this technique under the combine disturbance of Pitch, Roll and Yaw. The simulation result has shown that this technique is effective for the analysis of mobile robot＇s tipover stability, especially for the reconfigurable or shape shifting modular robot. Both theory research and simulation analysis have provided a valid reference for the shape shifting robot＇s potential application.

关 键 词： 变形机器人 稳定锥 倾翻稳定指数 能动构形 非结构环境

领　　域： [自动化与计算机技术] [自动化与计算机技术]