The Research Of Four-bar Machine And Wheel Mobile Robot Based On The Complex Configuration

It is the dream for people to explore the uncertain or dangerous environment, theunstructured environment robots have the broad foreground and social requirement inthe fields like military affairs, celestial body detecting and natural resources detecting.The basal study about the mobile robot based on the compounded mobile mechanism ispresented in this thesis.The experience of the military robots and the celestial body detective robots around theworld is referenced in the thesis, according to the analysis of wheel, leg, pedrail and themotion terms of the compounded moving mechanism, a kind of Walking-Wheel mobilerobot is presented, the innovation is that the "four-bar" mechanism and the "Wheel"mechanism are laminated in order to fulfill the function by a single power.The detailed design of the mechanism, wheel, bodywork and the walking machine ofthe compounded mobile robot are completed in the thesis. In addition, the analysis ofthe kinematics and the dynamics of the mobile robot and the capability of passingobstacles are presented, The simulation by ADAMS is completed to validate thefeasibility of the compounded mobile robot. Then the control system based on theEthernet network technology is chosen to use in the compounded mobile robot. Finally,the prototype is made.The research of this mobile robot is summarized in the end. The problems discovered inthe design process and the proposal of the research in the future is presented.The mobile mechanism of the compounded mobile robot mentioned in the text has thebroad foreground in military fields like spying, patrolling or combating, etc and in theother unstructured environment like celestial body detecting and so on.