Simulation Study On Deformable And Mobile Robot

With the development of science and technology, the use of the robot is more and more extensive, and it has a profound effect on human society. After developing and researching for many years, the study of the mobile robot has achieved certain achievement. And various kinds of robots have already been applied in many fields. But, mobile robot has often been designed for some certain environments, and its mobile ability is reduced greatly, even have no way to carry out motion when environment changes. This thesis has put forward the concept of a. brand-new kind of deformable mobile robot to raise the move adaptation, belonging to the new concept studying of the mobile robot, which has opened up a new studying space for the whole research about the mobile robot.By looking up a large amount of documents at home and abroad, the thesis carries out structural, kinematics and dynamic analysis of the robot, gains the kinematics and dynamic equation of the robot, sets up the virtual model in ADAMS, completes co-simulation of the robot using ADAMS and MATLAB, and provides effective data for the robots structural optimization and the following control work. Besides, the thesis studies the mobile robot route plans based on the artificial potential field, and carries out mathematical analysis on the defect that the route making use of the tradition potential field model to carry out displacement robot plans. It describes the problem of goals non-reachable with obstacles nearby, and solves this problem by modifying repulsive function. Improved artificial potential field model can solve the problem effectively.