Non-flat Ground Six Legged Autonomous Mobile Robot Obstacle Characteristic Analysis And Research

This paper mainly studies the kinematics and dynamics modeling of the obstacle negotiation for an uneven ground six-wheeled-legged autonomous mobile robot and correlative control problem. According to the robots' requirement of working on the complicated terrain, work out a six-wheeled-legged autonomous mobile robot which may adjust its walking framework. The kinematics model of the robot is proposed under different terrain, such as even ground, uneven ground and obstacle negotiation condition, emphatically analyzed six-wheeled-legged autonomous mobile robot's obstacle negotiation principle and the static stability analysis, proposed the static stability criterion, and analyzed six-wheeled-legged autonomous mobile robot's mobilized and stability question with this criterion during the local autonomous obstacle negotiation movement in the working conditions and wheel hanging phenomenon's influence to robot's static stability problem. Established equivalent double-hinged manipulator's model according to six-wheeled-legged autonomous mobile robot's host-vice rocking shaft's trait based on the chassis coordinate system, and studied the position and posture backward solution question. This article has also established the uneven ground perturbation dynamics model and the obstacle negotiation dynamic stability criterion. Finally proposed a basic control principle to six-wheeled-legged autonomous mobile robot's obstacle negotiation movement, and established correlative database to produce the corresponding control strategy. The results of this paper supply an absolutely necessary theory foundation to the analysis of the robot's obstacle negotiation kinematics, dynamics modeling and the designation of obstacle negotiation control system, and the method of modeling may be applied to another wheeled mobile robot. The research presented on this paper is valuable to the development of the wheeled mobile robots.