Study Of The Stability Of Articulated Wheeled Robot With Two Degree Of Freedom

According to the robot's organization characteristic and environment characteristic, the terrain that the robot through on may divides into the containing terrain and the non- containing terrain. The containing terrain is refers to the terrain that the robot can pass through smoothly by coordinating its own posture, but the non- containing terrain is refers to the terrain no matter the robot does adjust the terrain ,it is unable to pass through. Articulated wheeled robot with two degree of freedom is driven by the four wheels.When it face the non- containing terrain,it can adapt the strange terrain by coordinating its own posture.But do not like the track-laying vehicle such to have the process which falls falls, also not like the ordinary automobile such to jack expires.Thus it has strong cross-country power but the structure is simple. In addition, the articulated wheeled robot also has nimble, the fast maneuvering performance and the modular work installment, so it can complete the rock drilling, the loading, thing function and so on . It is the high technology equipment safeguard of emergency disaster relief, path dredges, open country dangerous work and so on under the complex environment.This articulated wheeled robot uses creative articulated bodywork with two degrees of freedom, the entire time four-wheel drive, the articulated turning, the modular multi-purpose work installment. Entire machine the walk and the work installment use the remote control operation, which can depend upon the chassis the hinge to distort but automatically adapts the ground condition, has the greatly strengthened puissance ability. It uses the articulated type power to change direction and can obtain the smaller radius of turn and the bigger rotating torque, so it has very strong maneuvering performance.When the articulated wheeled robot run on the complex ground, the change of the terrain causes the vehicles center of gravity change, therefore there is a stability problem on the robot. The stability problem is the important target of the travel organization puissance performance . According to the robot's organization characteristic ,its stability may divides into the longitudinal stability and the transverse stability. In transverse stability, as a result of existence of the robot rotation axial degree of freedom, so the transverse stability may divide into the transverse first level stability and the transverse second level stability. For this kind of two bodyworks hinged together, there is also the connection stability between two bodyworks. Seeing from this robot structure, there are certain general character between its stability analysis and the ordinary articulated vehicles stability analysis. Therefore, this article starts from the basic stability analysis of the articulated vehicles ,and researchs to articulated wheeled robot's stability deeply, sue the connection stability problem to enrich the stability theory of the articulated type vehicles.This article has researched the articulated wheeled robot's structure in detail,and in this foundation has has researched the articulated wheeled robot's stability deeply. Separately uses the geometry constructive method and the spatial analysis method to study the articulated wheeled robot's stability. And proposed according to the hinge type chassis stable principle the connection stability problem, has carried on the concrete definition and the analysis to the connection stability, has carried on the analysis appraisal using the connection stable concept and the physics significance to the hinge type robot. In order to further confirms this article to analyze the computation the accuracy as well as direct-viewing understood the hinge type robot in the cross country time stability, this article uses PRO/E software to carry on the three dimensional modelling, and inducted it under the ADAMS simulation software environment to carry on to the hinge type robot stability the simulation analysis.This article divides into six chapters altogether, various chapters concrete content is as follows:The 1st chapter elaborated the research significance of the articulated wheeled robot, and has carried on the outline on the domestic and foreign research present situation about wheeled motion robot. And briefly introduced this topic research object——the basic structure of the Articulated wheeled robot with two degree of freedom. In addition,it is listing the basic mentality and the structure of this article. The 2nd chapter has understood and the researched the stabilization analysis principle of the articulated wheeled robot, and carried on the analysis using the traditional geometry analytic method, and infers the hinge type robot longitudinal to lose the steady angle by and its the crosswise level of steady constant angles and the crosswise two levels of steady constant angles mathematical expression, will build the rationale for the later work.The 3rd chapter carries on the coordinates using the spatial analysis method. In this foundation bring forward the connection stability concept, and On the principle of the lost direction and the sequence ,this article trisects instances as "the front bodywork losing its balance but the back bodywork is steady-going ", " the front bodywork is steady-going but the back bodywork losing its balance ", "both of the bodyworks are losing their balance" to carry on the connection stability analysis appraisal .The 4th chapter uses multibody system principle of dynamics regards the articulated wheeled robot as a multibody system, in order to simplify the computation and hold the key influencing factor , carry on the essential simplified hypothesis to the system, useing the Lagrange law to establish the articulated wheeled robot 's mathematical model.The 5th chapter used the PRO/E software to establish the three dimensional modelling and ADAMS software to carry on the concrete simulation computation of the articulated wheeled robot 's stability, and compared its result and the computed result analysis, has confirmed that the theoretical analysis is correct. The 6th chapter has carried on the summary induction to the full text and obtained the related conclusions.The articulated wheeled robot 's stability involves many influencing factors, for example chassis force of traction, tire adhesion and so on.This article, because the length limits has not conducted the detailed research to them. It only made the preliminary discussion regarding the articulated wheeled robot 's connection stability. The experimental study about the application of the connection stability, and so on must analyze further more.