高机动性空间单自由度地面移动连杆机构的研究

Aiming at the requirements of the military and emergency rescues, the fundamental theory and core technology of the high mobility spatial single-DOF ground mobile linkage mechanisms will be proposed and researched systematically in this project. The key problems of the high mobility of the ground mobile linkage mechanisms, including speed mobility, orientation mobility and crossing-obstacle mobility, will be refined and proposed. The research contents includes: 1) Proposing the novel configurations - Based on the traditional spatial single-DOF linkages and the practical mobile needs, the novel spatial single-DOF ground mobile linkage mechanisms with the orientation mobility will be proposed. 2) Kinematic analyses and gait planning - Kinematic modeling building; gait planning; mobile trajectories analyzing; over-obstacle performance analyzing; systematically researching of the orientation mechanisms and control technologies; proposing the design criterions of the key links. 3) Dynamic analyses and optimization designs - Dynamic modeling building and solving; dynamic optimization designs; analyzing the dynamic influences of the structural parameters and constraints; the research of torque balancing technology. 4) Two novel configurations will be selected, the principle prototypes will be developed and experimental researches will be carried out. The best novel configurations will be selected, the demonstration prototype will be developed and experimental and applied researches will be carried out. These novel ground mobile mechanisms will own the favorable ability to adapt the field environment, and which are different from and supplementary to those existing wheeled, tracked, legged and other mobile mechanisms.

本项目针对军事侦察和抢险救援需求，提出并系统研究高机动性空间单自由度地面移动连杆机构的基础理论与核心技术。凝练提出地面移动连杆机构机动性的核心问题，包括速度机动性、方向机动性和越障机动性。研究内容：1.提出创新构型-基于传统单自由连杆机构和实际移动需求，提出能够转向的空间单自由度移动连杆机构。2.进行运动学分析和步态规划-运动学建模、步态规划、移动轨迹分析；越障性能分析；系统研究转向机制与控制技术；研究关键杆件结构参数，提出设计准则。 3.进行动力学分析与优化设计-动力学建模与求解；动力优化设计；分析各结构参数和限制条件对于动力学特性的影响；扭矩平衡技术研究。4.选择两个有潜力的创新构型，研制原理样机，进行实验研究。优选一个构型，研制演示样机，进行实验和应用研究。这种新颖的具有良好特种野外地面环境适应能力的地面移动机构，与现有的轮式、履带式和腿式等地面移动机构定位不同、互为补充。

本项目从空间单自由度闭链连杆机构入手，提出并系统地研究了提高地面移动机构机动性能的理论和关键技术。完成了预期的研究目标，提出七个能够转向的空间单自由度移动连杆机构和空间闭链地面移动机构。具体而言，从传统经典的空间单闭链四杆、五杆、六杆机构和闭链连杆机构入手，提出了空间四杆Bennett地面移动机构，空间五杆RPRPS地面移动机构、空间六杆4R2C和Bricard地面移动机构和整体闭链新概念地面移动机构。完成了运动学分析、动力学分析与步态规划、越障性能分析、转向机理的系统研究以及关键环节的设计规范，研制样机，进行移动性能实验和应用研究。这些新颖的地面移动机构，具有较好的折叠变形性能，便于存储和运输，可用于军事侦察、抢险救援或者作为小型载运移动平台等。