Structure Design And Performance Analysis Of Novel Mobile Robot

Intelligent mobile robot is a kind of robot which is composed of body structure, controller,and servo drive system,sensor device.Usually these robots can finish some tasks over humankind's capability regardless of the influence of temperature, humidity,space,magnetism,gravity,etc.So far,the mobile robot is mainly divided into three types Tracked,Wheeled and Walking.Among them,tracked robot is able to move on the uneven ground, span across the barrier,and climb up the step of which the gradient is not too high.It has characteristics with a faster speed and better carrying capacity but an unskillful shift and a hulking body.Walking robot,especially the multiped robot is able to adapt to complex situation and cross the step,but it's slow,intermittent and complex to control.Wheeled robot has a light body to be stable and easy to control speed and direction.It is often used to carry parts or do other work in the unmanned factories because it has fast speed on even ground,but its obstacle performance is worse than walking robot.Based on state of art of intelligent mobile robot,the paper puts forward a new kind of robot which combines the wheeled driving system with the walking mechanism,drives by two electro-motors and walks like the animals by some simple gearings cooperating with the kinematics mechanics of vehicle wheels.This kind of robot is not only fast to move and simple to control,but has a better capability of spanning across the barrier.This paper takes an analysis of the robot's function about spanning across barriers and then analyzes the kinematics of the walking mechanism.In order to design the structure of parts,determine the drive moment of each wheel,the thesis builds and analyses the quasi-static model of the robot based on the simple relationship of wheel-ground contact to get the force condition of each part when the robot is crossing barriers.Considering uneven terrain that robot may run,the relations between robot's body position and wheels' locomotive parameters are founded by applying the matrix coordinate transformation and forward and inverse kinematics analysis of the robot are worked out.The paper also studies on Steady-State and Transient response performance of the robot's steering system, analyses the impact of the main frame parameter of the body on the transient response of the steering,and then provides theoretical basis for the structure of robot and driving system.