Dynamic Study On Tranformative Mobile Robot Based On Virtual Prototype Technology

The concept of metamorphic and mobile robot is based on the successful study of NATION 863 ITEM which is shotcrete scrobot and NATION NATURE SCIENCE FUND that is the snake-robot with pedrail around it in the robot center of Shandong Science University. It is a innovation in concept and construction of mobile robot. The metamorphic and mobile robot with eight joints and twelve degrees is symmetry mechanism and a pedrail mechanics connects with the box through a arm. The motions of pedrails, arms and the robot are controlled respectively by twelve engines and the metamorphic and mobile robot can change motive postures through the various positions controlled of the pedrails and the arms.This thesis introduces domestic and international present and developing condition of mobile robots first and indicates the necessity of establishing and analyzing the virtual prototype of the metamorphic and mobile robot on virtual technology. Secondly, the three dimensions model and the virtual assembly are established in Unigraphics and the dynamic equations of metamorphic and mobile robot are acquired through the theoretically,deduction on D-H transfer and Language equation of robot with many degrees. Finally, the simulation surrounding and the prototype of metamorphic and mobile robot are set up in ADAMS on detailed introduction of it and the dynamic simulation proceeds, then the result of simulation is abstained.The metamorphic and mobile robot proceeds on flat road and slope of twenty degree and it changes motive postures meantime, then the torques of changing postures and proceeding are measured and the motive parameters are abstained through feedback measure while the arms and pedrails of the robot change their postures.