【摘要】 为了提高轮式机器人的越障能力、改善机器人平地运动的平稳性，设计了柔性轮-爪变形机构及机器人运动模式转换传动方案。详细介绍了变形轮的变形原理，并对变形轮的变形过程进行了运动学分析以及Adams运动学仿真，仿真结果与理论结果基本一致。通过理论与仿真相互验证，确定了准确的舵机脉冲宽度调制（Pulse Width Modulation,PWM）波控制范围的设置。为验证所提出方案的可行性，以变形轮半径80 mm为例，通过Adams虚拟样机仿真及样机平台实验，验证了所提出变形轮的越障能力。结果表明，在平地运动时，机器人采用柔性结构具有更强的平稳性。更多还原

【Abstract】 In order to improve the ability of wheeled robots to surmount obstacles and improve the movement stability, a transformable wheeled-clawed flexible mechanism and a motion mode conversion transformation scheme of the robot are designed. The transformation principle of the wheel is introduced in detail and both the kinematics theory analysis and Adams kinematics simulation analysis of the deformation process are completed. The simulation results are basically consistent with the theoretical results. Through the mutual verification of theory and simulation, the accurate pulse width modulation(PWM) wave control range of steering gear is determined. In order to verify the feasibility of the proposed scheme, taking the wheel radius of 80 mm as an example, Adams virtual prototype simulation and prototype platform experiment are used to verify the obstacle crossing ability of the proposed transformable wheel. The simulation and experimental results show that the robot has stronger stability when moving on flat ground with a flexible structure.更多还原