| This issue comes from Nanjing technology office program "The Multifunctional Special Mobile Robot". The main task of this program is to research and development a kind of mobile robot platform that is capable of carrying a variety of special devices. This mobile robot could carry fire protection, reconnaissance, detection, mechanical arm , small arms and other subsystems to implement part of dangerous operations including fire fighting, anti-terrorism, riot, reconnaissance, detection and so on.This thesis is mainly to design the mobile platform of The Multifunctional Special Mobile Robot. This thesis emphasis on four aspects: (1) Overall design of the mobile robot system; (2) Mechanical design of the mobile platform; (3) Dynamic emulation and analysis of the mobile platform's various poses; (4) Finite element analysis of the mobile platform's key parts.The research and development status of Domestic and international mobile robot is firstly reviewed with examples of Different forms of Mobile Robot, then the significance and research purpose of mobile robots is expounded. The overall project of the mobile platform, the Carrying platform, the control system, the remote control system and the driving system are designed and arranged. According to the project, mechanical structure of the mobile platform is designed, driving motor is selected, the optimization to the chassis, the drive machine, the pedrail, the pedrail tensioning device, the wheel system is mainly designed. The motion model for different working condition of Mobile Robot, including linear motion, slope climbing, obstacle climbing and turning, is made on the basis of structure designed and emulating through MATLAB to obtain the analysis result. Analysis on forces status of different ground angle which is in the front of the mobile platform is made and ground angle is determined. The finite element analysis by ANSYS to drive axle and upward guiding wheel bracket are made to assure that the parts can meet the needs of strength. At last, in allusion to present design, this thesis makes a summary of the task and views the prospect of The Multifunctional Special Mobile Robot.Through the research of The Multifunctional Special Mobile Robot's mobile platform, we provide a suit of mechanical system with features of compact, easy to disassembly, reliable, stability and adaptable, accumulate rich experiences in the design of the system. Provide relevant information for the later research of design and improving. |
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