Study On Mechanism And Motion Mechanism Of Passive Self-adaptive Mobile Robot

In recent years,the mobile robot plays an irreplaceable role in terms of replacing manpower to complete disaster relief and other works.In this paper,a wheel-track passive adaptive mobile robot is designed for unstructured environment,this robot combines the advantages of wheeled and tracked robot.Through the innovative design of the structure,the robot can adjust its structure to adapt to the complex working environment.The main contents and innovation of this paper are as follows:1.A kind of under-actuated mechanism is designed through intensive study of planar four-bar mechanism?evolution and combination,according to the types and features of different institutions,and this mechanism is applied to robot walking module.The robot mobile platform of wheel-track passive adaptive mobile robot is built,combines the advantages of wheeled and tracked robot,through intensive study on walking driving mode and running mode;2.Adopting the modular design method,the design of the overall structure and each function module of the wheel-track passive adaptive mobile robot is completed.And then transmission scheme of running system is determined.3.Through the analysis of the motion relationship among the components of the robot,the local coordinate system is established,and the parameters of each component of the robot are completed.A mathematical model of track length is created.In order to optimize the parameters of each component of the robot,the robot is optimized by using the track in the process of the robot motion model adjustment.Using the standard dynamic energy stable cone method to analysis the dynamic stability of the robot.Establishing a robot turning model.The analysis of the robot motion,step climbing slope and trench crossing ability is completed.Finally,the robot kinematics simulation model is built by using RecurDyn multi-body system simulation software.