Design And Analysis Of Two Typical Mobile Robots

Two typical mobile robots are designed and investigated in this research: DCRCAC (Duct Cleaning Robot for Central Air-Conditioning) and TWLR (Typical Wheel Leg Robot). At first, the background introduction and state-of-the-art investigation are studied, and then the design procedure of DCRCAC robot, the corresponding 3D modeling and simulation using Pro/E, and the hand made prototype of DCRCAC are provided respectively. After that, the design of TWLR robot, together with the classification and mobility analysis of different mechanism topologies are proposed subsequently. In the end, the 3D kinematics analysis of the critical 2 parallel mechanism topology is given.Indoor air pollution caused by duct of central air-conditioning has been drawing more and more attention recently, especially after the SARS disaster happened in China in 2003. However, Central Air-Conditioning Duct Cleaning Industry has just started in China, and the cleaning robots are all purchased from USA, Canada, Australia or other developed Country. The equipment is very expensive, and sometime they do not work very well for Central Air-Conditioning duct in China due to different duct standard. Therefore, a new duct cleaning robot system DCRCAC, especially for Chinese Central Air-Conditioning duct cleaning is designed in this research, which is composed of three devices: monitor and control device, remote robot and dust collection device. The control principle and structure design of this proposed robot system is introduced in detail. Also, the 3D model of DCRCAC is created and the assembly analysis is accomplished using Pro/E. Finally, a prototype of the rotating bursh device is made to test the cleaning effect of DCRCAC.As we know, the legged robot is more adaptable to a wide range of unstructured ground environments but can not move faster, while the wheeled locomotion is faster, but they can only walk on smooth surfaces.Then, the use of legs and wheels can be a good synthesis for a walking machine combining the merits of both locomotion types. In this research, a new wheel-leg hybid robot—TWLR (Typical Wheel-Leg Robot) is proposed to improve the rough terrain mobility and increase the moving speed, which not only incorporates the benefits of the wheeled and legged robots, but also integrates the application of multiple topology mechanism. TWLR is designed to be capable of walking on various tough terrains, crossover obstacles, climb up steps, using the unique ability of different topology mechanism adjustment.The classification and mobility analysis of different topology mechanism of TWLR are investigated respectively in this research, which is the fundamental task of the future research on velocity analysis, error analysis, dynamics analysis, motion planning and navigation of TWLR. Modified Grubler Kutzbach criterion, together with line geometry and reciprocal screw theory, is used to perform mobility analysis in cases when overconstraints occurr and conventional Grubler Kutzbach criterion can not provide the correct result. In the end, an equivalent serial manipulator of the 2-SP mechanism with the same degrees of freedom is proposed to solve for the iverse and forward kinematics problems using DH conventions.