The Research On Mechanical System Of A Mobile Robot Of Compound Wheels And Six-bar Mechanism

Robot always consists of mechanism system and electronic control system. Mechanism system is the base of the whole robot and it provides an experimental platform for advanced research on robot control theory and method.This dissertation introduces the entire design and development flow of mechanical system of mobile robot of compound wheels and six-bar mechanism.Firstly, the state and development trend in internal and external mobile robots is summarized referring to lots of relative literatures. The function of the researched robot is analyzed. A locomotive mechanism of compound wheels and six-bar mechanism is proposed as the basic structure of the mobile robot in this dissertation. After the forward work, the entire structure of the mobile robot is designed in detail. The power of driving motors in wheeled and legged locomotion models is computed. Kinematic model of this mobile robot is established and the main characters in several kinds of gaits including position and posture, velocity and acceleration are analyzed.Next, the virtual prototype technology is introduced briefly. The key problems and difficulties in the virtual prototype technology of robot are analyzed. The dynamic model of wheeled locomotion gait is established. The stability in legged locomotion is analyzed. Based on the former work, the simple virtual prototype model is made and dynamic simulation is performed.After the academic analysis and dynamic simulation, the main parts of the mobile robot are chosen in market and designed. The whole robot system model is established by Pro/E and assembled. The check of the rationality is made in this process simultaneously. The designed parts of the robot are drawn by CAD software. According to the drawings, these parts are produced and will be assembled with purchased parts to make a mobile robot prototype.