Structural Design And Simulation Of Multi-Locomotionstate Mobile Robot

With the development of modern technology, the study of robots is paid to more attentions. Especially, the technique of mobile robot has become one of the study hotspots. The study of mobile robots include four parts: robot machine noumenon, dynamical and transmission system,control system and detecting system .In the phase of designing and developing of the mobile robot , it is great significant to improve comprehensive capabilities by optimizing and analyzing for all parts of mobile robot .Moving mechanism was designed and investigated in this paper. Required the mobile robot can adopt different kinds of road conditions, not only moving in a high speed in plain road, but also climbing the slope and stairs and spanning groove, realize real-time dynamic obstacle avoidance.On the basis of introducing the mobile robot studying status in and abroad, this paper synthesized comparing all the mobile mechanism virtues and disadvantages, adopted wheel-track mobile mechanism, concluded the feasible conditions of the passing capabilities by analyzing in all kinds of road conditions. The driving unit and whole dimension of the mobile robot were considered when designed the sub moving unit parameters.Secondly, the mobile robot kinematics basic theory was introduced, the kinematics functions of the mobile robot in special conditions were established based on moving flat roof center geometry gesture.Then, created the 3D mobile robot model in UG,imported the 3D to Adams through UG-Adams software interface, established the simulation model,gave simulations when mobile robot climbing the slope and stairs and spanning groove, analyzed and discussed the simulation results.Finally, aiming at the mobilr robot real working situation that the robot only kowns part of information,we divided the system the robot in into two layers,Found the initial globale optimal path by GA which based on link graph, made the mobile robot continually correct the initial globale optimal path, found an optimal path from the start point to the objective point was found to improve moving velocity and agility.