六轮多模式移动机器人设计与运动控制

Design and Motion Control of Six-wheeled Multimodal Mobile Robot

摘要:

针对传统六轮机器人转弯半径大、运动不灵活和地形适应性差等问题，提出了一种具有铰接式双摇臂悬架和独立驱动转向结构的六轮多模式移动机器人。机器人总体结构包括独立驱动转向模块、一体化机身、铰接式摇臂悬架模块和控制模块，能实现直行、平移、原地转向和绕任意点转弯等多模式运动方式，具有机动、灵活、地形适应性强等优势。分析了机器人多模式运动机理和越障原理，建立了机器人多模式运动学模型，确定了机器人多模式运动下的运动参数关系式。机器人控制系统采用电机任务、传感器任务和遥控器任务的多任务并行模式，采用一种基于UCOSⅢ并行操作系统的多模式PID控制器，提高了机器人控制系统实时性、可靠性和可移植性。搭建了六轮多模式移动机器人仿真环境和试验样机，验证了机器人多种模式下的基本运动性能和楼梯、垂直障碍、壕沟等多种复杂地形的通过能力。测试了在不同地形下机器人运动姿态和运动速度等，分析了机器人多模式仿真运动和样机试验结果，证明该六轮多模式移动机器人结构具有比传统六轮机器人更好的通过性和地形适应性能，研究结果可为六轮机器人结构优化改进提供参考。

Abstract:

Aiming at the problems of large turning radius, inflexible motion and poor terrain adaptability of traditional six-wheeled robots, a six-wheeled multimodal mobile robot with articulated double rocker arm suspension and independent drive steering structure was proposed. The overall robot architecture consisted of an independently driven steering module, an integrated body, an articulated rocker suspension module and a control module, which can realize multimodal movement modes such as straight running, translation, in-situ steering, and turning around any point, and had the advantages of manoeuvrability, flexibility, and strong adaptability to the terrain. The multimodal motion mechanism and obstacle-crossing principle of the robot were analyzed, the multimodal kinematics model of the robot was established, and the relational equations of motion parameters under the multimodal motion of the robot were determined. The robot control system adopted a multi-task parallel mode of motor task, sensor task and remote control task, and a multimodal PID controller-based on UCOS Ⅲ parallel operating system, which improved the real-time, reliability and portability of the robot control system. The simulation environment and test prototype of a six-wheeled multimodal mobile robot were built, and the basic motion performance of the robot in multiple modes and the ability to pass through various complex terrains such as stairs, vertical obstacles and trenches were verified. The data of the robot’s motion attitude and motion speed under different terrains were tested, and the results of the robot’s multi-mode simulation motion and prototype test were analyzed to prove that the six-wheeled multimodal mobile robot structure had a better performance of passability and terrain adaptability than that of the traditional six-wheeled robot, and the study can provide a reference for the optimization and improvement of the structure of six-wheeled robots.