Research On The Robot Surmounting Barrier By Planet Gear

The robot technology is one of 21st century research hotspots, not only the robot may work in the special environment, liberates the humanity from the arduous and monotonous work, but also enhances the labor productivity to reduce the cost. This research of the robot which surmounts the barrier, has the vital significance, on expanding the work space of the robot, in the environment which the human cannot achieve or arrive inconveniently. The mechanism,the kinematics and technology researches of the drive and control had been researched in this study.The research had been completed by unified method which used theoretical analysis, computer simulation and experiment analysis in this study : According to the requests of surmounting barrier, the surmounting barrier robot had been designed by planet gear structure, and the mechanics of the surmounting barrier robot had been analyzed; surmounting the different barrier the kinematics model had been established for different kinds of barrier, the computer simulation and its analysis had been completed; the driving & control system and avoiding system of the surmounting barrier robot had been designed and developed; A lot of experimentation had been finished by developed robot according to the different surmounting barrier robot.According to the kinematic analysis, computer simulation and the barrier experiments of the surmounting barrier robot, some conclusions were obtained as follow:(1)It is easier to surmount the different barrier and more simple to control the robot by means of the planet gear for surmounting the barrier.(2)During the robot surmounted the different barrier, kinematic analysis is finished and some corresponding path equations, speed equations and acceleration equations are established, then the surmounting the barrier states are described, and has laid the foundation for the surmounting barrier robot computer simulation.(3)On bases of the robot kinematic analysis, a simulation of the surmounting barrier robot is completed by the MATLAB, and the surmounting obstacle robot, has analyzed law of motion and the kinematic law of the surmounting barrier robot is analyzed, and the effects of the robot surmounting obstacle capability by same correspond mechanic parameter are studied. The results of computer kinematic simulation are accord with the results of mechanics, and then the accuracy of the theoretical analysis is validated.(4)The driving and control system are designed, and these system can satisfy requirement of the robot, and avoiding barrier foundation is realitied by ultrasonic ranging method.Through the robot mechanism analysis, kinematic analysis and computer simulation indicate that: the surmounting barrier robot by planet gear has more capacity of surmounted barrier, and the surmounted barrier structure is more simple, The driving and control system has more relatively, and has more practical value...