Obstacle-Climbing Analysis And Control System Design For Leg-Wheeled Mobile Robot

Along with the development of society,people have become increasingly rely on equipment.The quick deployment of modern warfare and rapid relief after disasters put forward higher request to transportation equipment.They asked transportation equipment have high flexibility and adaptability to the environment of complex structure of terrain,and can succeed, quickly complete given task.Combined with the"leg-wheeled mobile robot"project,the obstacle-climbing capability and the control system are introduced in this paper.Specific research work are as follows.Based on the analysis of outdoor robots walk institutions function and design requirements,walking mechanism of the leg-wheeled mobile robot is designed.The robot composed by the body and six leg-wheeled systems. Leg-wheeled system use modular design and easy disassembly. The mechanical and electrical interface between leg-wheeled system and body is exactly the same and can interchange directly.According to the function requirements of robot,the motor power demand of the robot in different stages is analyzed and the appropriate driver motor is selected.The kinematics model of plane,spatial kinematics posture and special kinematics posture are established.These provided the basis for the trajectory tracking and obstacle-climbing motion plannning. Obstacle-climbing motion is planned for the typical terrain of vertical obstacles and ditches.With the geometric method and stability constraints, the obstacle-climbing capability is analyzed.Finally,using the ADAMS,the obstacle-climbing motion planning is simulated and its feasibility is proved.Masterslave control system is built.Using the USB-CAN Adapter,the CAN communication between up and down computer is achieved and the motor controller is designed with TMS320LF2407A DSP and EPM3128 CPLD. Using VHDL language, CPLD acquisition and processing signal of encoder and the SPI communication with DSP is realized.The speed servo control for drive motor and position servo controll for swing arm motor is achieved. Motor drive is designed with LMD18200. In order to increase the reliability of the wheel support,the brake is installed and its drive is designed.Finally, the debugging and commissioning of the robot is completed. Through the obstacle-climbing experiment for vertical obstacles and ditches, the flexibility of walking mechanism,the feasibility of obstacle-climbing motion planning and the correctness of obstacle-climbing capability analysis is proved.