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首页> 外文期刊>International journal of mechanisms and robotic systems >Modelling and design of tracked mobile climbing robots on non-planar surfaces
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Modelling and design of tracked mobile climbing robots on non-planar surfaces

机译：非平面曲面上履带式移动攀岩机器人的建模与设计

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摘要

>This paper presents an analysis of a tracked-based skid steer mobile robot following a defined path on a class of non-planar surfaces. The analysis will define a method to approximate the position and orientation of each track on a climbing surface in a manner that ensures opposing, symmetric components of the robot are geometrically even in their positioning relative to the base surface. The analysis will assume the robot chassis travels along the path with an orientation defined by the vectors tangent to the path and normal to the climbing surface, and that the centerline distance and longitudinal displacements between the tracks units are fixed. It will be shown that for general paths, three rotational degrees of freedom are required between the tracks to maintain line contact with the surface along the length of the track. This implies that the tracks do not remain parallel while following paths on non-planar surfaces. It will further be shown that relative lateral slipping between the left and right tracks result when traversing non-planar surfaces. Two subsets of paths are shown to require one rotational degree of freedom only and avoid lateral slipping. The model will then be used to define the required relative motion between the tracks which can be used to design a kinematic arrangement for connecting track modules to a central chassis in a manner to minimise slip and maximise surface contact when climbing on non-planar surfaces.
机译：

本文介绍了一类非平面表面上的定义路径之后的跟踪基于滑动转向移动机器人的分析。分析将以确保相对的方式定义近似近爬在爬爬表面上的每个轨道的位置和取向的方法，即使在其相对于基础表面的定位也是几何上的几何上的方式。分析将假设机器人底盘沿着具有由对路径切切的向量和爬升表面正常地定义的方向的路径行进，并且轨道单元之间的中心线距离和纵向位移是固定的。将表明，对于一般路径，轨道之间需要三个旋转自由度，以沿着轨道的长度保持与表面的线接触。这意味着在非平面表面的路径之后，轨道不会保持并行。还应示出在横穿非平面表面时左右轨道之间的相对横向滑动。示出了两个路径子集仅需要一个旋转自由度并避免横向滑动。然后，该模型将用于定义可用于设计用于设计用于将轨道模块连接到中央底盘的运动装置之间所需的相对运动，以便在攀爬非平面表面时最小化滑动和最大化表面接触。

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