Kinematical Analysis And Stability Study Of Mobile Robot Travelling System

Mobile robot traveling system is noumenon in various complex road condition and main implementation component. Mobile movement, velocity and controlling accuracy be impacted by function of traveling. The project main aim is studing and optimizing travelling system of a joint-track mobile robot. Providing a right model for controlling system by use of kinematical analysis, dynamics analysis and stability study of traveling system, made it more flexible and stability movemwnt in various complex road condition.Joint-track mobile robot is chioced as studing content through analysising various traveling system's virtues and disadvantages. Mobile robot noumenon and concentric transmission mechanism for front-wheel and swing arms wheel is designed. Three-stars–wheel swing arms mechanism is used as swing arms mechanism of assistant crossing over obstacles which make mobile weight more light-weight. Conical and U shape hole mechanism is adopted as tensioning and disassembling and assembling design for track which avoid using pressure roller and support roller that adding weight of mobile robot. Maxon's direct current servo electric machine and their component is choiced as robot's driving system.Steering and crossing over obstacle kinematical math model is analysised. Steering kinematical math model is amended by skidding and sliping modulus through analysising steering movment process because skidding and sliping occured in mobile robot steering process, which kinematical math model approached real state of steering process. Singularity location is analysised in mobile robot crossing over obstacle and it is must avoided in controlling mobile robot.Linear movement and crossing over obstacle dynamics math model is analysised, which made theory groundwork for mobile robot controlling.Mobile robot movement was simulated by ADAMS that a soft for multi-body dynamics and looked over which velocity, acceleration, torque accorded with real condition.Mobile robot static stability is analysised using concept of stability pyramid and relation of mobile robot static stability and structural dimension is calculated. Mobile robot dynamic stability in several especial condition is analysised and it is known that requirement of mobile robot dynamic stability is met.The project is supported by HeBei Province science and technology project-Study of mobile robot adaptive system in complex road condition (No.062121030).