关键词: 轮式移动机器人, 驱动轮组, 组合刚度, 姿态调整

Abstract: Wheeled mobile robots are widely used in logistics,intelligent manufacturing,inspection and other fields,due to the lack of adaptability of the wheelset to the complex ground,the movement accuracy of the existing wheeled mobile robots in the complex terrain is not high,a new type of wheelset buffer mechanism that can realize height adjustment was proposed,and multiple wheelsets can cooperate and work together,achieving the purpose of the whole machine attitude adjustment. An analytical model of the attitude of the whole wheeled mobile robot was established;the support force model was derived with the constraint that the diagonal wheelset support force is half of the total support force;the ideal gas equation was used as the basis to obtain the inflation and deflation model of the cushioning mechanism,and the attitude adjustment strategy based on the coordination of multiple wheelsets was put forward,and was verified by simulation through Simulink software. The simulation results proved the effectiveness of the proposed active attitude adjustment method,which provides a novel solution for the high-precision attitude adjustment of wheeled mobile robots in complex ground environment.

Key words: wheeled mobile robot, drive wheelset, combined stiffness, attitude adjustment