Design And Simulation Of Mobile Robot’s Active Wheel

Mobile robots have been widely used in many fields, and miniaturization, intelligentand obstacle climbing ability are the hot spot at present. Mobile robots especialy smallMobile robots are sensitive to volume and weight.Large torque is contradict to powerconsumption,weight and volume.So driving system with small volume,light weight,largetorque and high integration is key point in robots designation.So an active wheel whichintegrates motor,reduction,shift mechanism and feedback sensors is design to meet thedemands above.The active wheel with two shift and can satisfy the robot’s high speedrunning on smooth road and obatacle crossing at low speed with large torque. Roadadaptability and obatacle crossing ability of the robot is enhanced.This paper maily disscussabout the following contents:This paper develop an active wheel for mobile robot to improve the miniaturizationand obstacle climbing ability. This paper mainly discuss about those topics:1. Analyze the robot’s design design requirement and calculate the design parametersof the active wheel.Perform overall design of the active wheel and the transmission schemeof active wheels. Optimization design of the active wheel and complete the structuredesign.2. Establish dynamic model of the active wheel’s mechanical system and analyze theactive wheel’s performance of starting, stopping and shifting to verify the feasibility of thedesign.3. Analyze the control principle of the active wheel and design the shifting controlstrategy of the active wheel. Establish control model of active wheel system and design thePID controller of the active wheel.Conduct simulation of the control model and byanalyzing the result which can verify that the method above can complete the shifting andspeed regulation effectively.