The Research Of Mobile Mechanism Based On Transformable Wheels

Since different ground-moving mechanisms have unbalanced performances on their speedability, obstacle capability and stability, it has been always a hotspot to develop a all-round ground-moving mechanism for developed countries.Wheeled mobile mechanism is a steady and fast mobile mechanism but obstacle capability, so improving its performance on obstacle-navigation is a research highlight all the time. According to the research on obstacle-navigation performance of wheeled mobile mechanism at home and abroad, and combining with the analysis on already existed performance and requirements of wheeled vehicle, this thesis puts forward four kinds of solutions utilized link mechanism to improve obstacle capability, which are preliminarily carried on by institution selection, and gait and obstacle-navigation performance analysis. Finally transformable wheel scheme is picked up among the four after comparation and study deeply.To prove the feasibility of the transformable wheel scheme, kinematics analysis is carried out, and the wheel scaling is calculated in two extremity cases. With the analyzed obstacle-navigation performance of the wheeled vehicle, ADAMS software is used for the virtual prototype simulation analysis.After the theoretical analysis and dynamic simulation, the main components of the body are designed or procure from the market. The whole system model is established and assembled by Solid Edge. The rationality of the whole mechanism is checked out in this process simultaneously. At last the prototype is assembled after all the designed components of the robot are drawn and manufactured.The correctness of the concept is proved once more after the prototype experiment is carried out. The mechanical structure and controlling system of the mobile mechanism are simple. Besides, the cost is also considerable.