The Study Of Mobile Robot Treading System In The Complex Circumstance

With the development of modern technology , the study of robots are paid to more attentions.Especially, the technique of mobile robot have become one of the study boom.The study of mobile robots include four parts: robot machine noumenon,dynamical and transmission system,control system and detecting system .In the phase of designing and developing of the mobile robot ,it is great significant to improve comprehensive capabilities by optimizing and analyzing for all parts of mobile robot .Treading system were designed and investigated in this paper.Firstly, on the basis of introducing the background of task studying and significance. In this paper, robot treading system were designed and it synthesized all the mobile machine virtues and disadvantages , wheels were adopted by mobile machine.Walking in line ,swerving right and left ,passing gibbosity ,climbing stairs and spanning groove were realized by the mobile robot. Secondly , the mobile robot were studied from kinematics , passing capabilities of mobile robot were analyzed in all kinds of circumstance in this paper. Educing the condition of feasibility ,getting the positive and in reverse kinematics answer ,modeling the dynamics of mobile robot were all analyzed, and the dynamics basis for movement control was established later.Finally, the mobile robot model was established, the kinematics was simulated with ADAMS ,the emulating software for machine system kinematics and dynamics. The result of mobile robot kinematics were analyzed and the designing machine were optimized . This kind of mobile robot can be adopted in the military succoring and other complex circumstance.This study of task progressed on the basis of science and technology and development plan item of HEBEI province.