Prototype Design And Study On A Reconfigurable Mobile Robot With Five Wheels

With the development of modern technology, research of robots is widely concerned. Especially, mobile robots designed for uneven terrain became a hotspot of research. This subject is supported by Project of National Natural Science Foundation of China, named"Trafficability control with low-power consumption toward wheeled robot in rough terrain". This thesis mainly focuses on the topological architecture and the prototypes of mobile robot with rough terrain adaptivity and the ability to acquire the robot's trajectory and the requirements of multiple tasks in rough terrain.According to the research status and tendency of mobile robot, the schematics of five-wheeled mobile robot was proposed, and this robot has the character of light-weight, reconfiguration, multi-prototype, multi-maneuver modes, three-linked fuselage with separated differential mechanism and the ability of slip rate measurement. Combined with the multi-objective optimization method, the structure and parameters from three-dimension model of the robot were determined, the engineering drawing was completed and the prototype was developed. Symmetric prototype, semi-symmetric prototype, diamond-like prototype and flipping over prototype were analyzed comprehensively. Additionally, seven maneuver modes and reconfiguration effect on enveloping space and maneuver space of robot were described.The space analytical model was established with the utilization of kinematical position and orientation transformation, static stability including longitudinal and latitudinal stability was analyzed, and the impacts of relevant design parameters on the performance were illustrated.Based on terramechanics and multi-objective optimization theory, the model of interaction between the robot wheel and the ground was established To minimize the mass, wheel resistance and maximize the static stability, the multi-objective function M file, which was integrated within iSIGHT-FD, was obtained by MATLAB. Optimization to the longitudinal symmetrical prototypes - all symmetric, semi-symmetric and flipping over prototype and the diamond-like prototypes - four wheels mode and five wheels mode were carried out via the NCGA (Neighborhood Cultivation Genetic Algorithm), which can fulfill the Global optimization. The results were analyzed finally.A variety of prototypes were validated in terms of the configuration performance, compared with the theoretical results. Tests of Terrainability, trafficability, climbing ability and maneuver modes were implemented to verify the corresponding prototype.