Design And Motion Control Of All Wheel Steering Mobile Chassis Major:Mechanical And Electronic Engineering

Compared with wheel-track,wheel-legs composite robots,wheeled mobile robot has been widely used because of its simple,reliable structure and flexible motion performance.The working environment of wheeled mobile robot is becoming more and more complex with researchers'intensive study in various fields,and higher requirements are put forward for obstacle surmounting ability of wheeled mobile robots.The design of a wheeled mobile robot with excellent obstacle surmounting ability without increasing the difficulty of control has become one of the research hotspots of many scholars.In this paper,a wheeled mobile robot chassis with a certain obstacle surmounting ability and flexible performance is designed according to the needs of an enterprise.A swing arm chassis structure,a balance rocker arm adjusting mechanism,a pure rolling steering mechanism and a dual power differential system are proposed.The realization principle of the structure is analyzed,which provided a theoretical basis for the chassis structure design.Then the paper analyzed the realization principles of the chassis's 4 WS mode,crab mode,pivot steering mode,and established the corresponding mathematical model and studied the motion control strategy under three modes and the speed coordination strategy of main and auxiliary motors driven by two motors,which provided a theoretical basis for chassis motion control.A deviation coupling control module is designed for chassis multi motor cooperative steering,and the improvement of multi motor cooperative steering performance is analyzed by Simulink simulation.The structure of the chassis is established in NX and the simulation analysis of one side obstacle crossing is carried out with ADAMS.The simulation result showed that the structure principle is correct and feasible,which provided the basis for the prototype construction.Software,hardware and management system of chassis control system are developed based on the design principle and control strategy.The prototype of the chassis is built and tested,and the test results showed that the structure principle and motion principle of the chassis are correct,feasible and can effectively improve the obstacle surmounting performance of the chassis.The magnetic navigation scheme is designed based on the chassis,and the running test is carried out in a tobacco station.The test results showed that the designed wheeled mobile chassis can satisfied the design requirements.