Improvement And Control On An Arm-Equipped Singled-Wheeled Rover

Planetary exploration robots are becoming miniaturized and multi-robot cooperation of such small robots is the developing trend. Fewer tasks will be performed with robots becoming smaller. Thus, to maintain as many functions as possible while miniaturizing planetary robots is very important. Single-wheeled rover with an arm equipped, introduced and developed in this paper, has two working mode: manipulation mode and locomotion mode. The rover not only can work by itself as a single-wheeled robot, but also can be connected with another. Moreover, the single-wheeled rover can be connected to the mother rover as a driving child unit.Because of the low stiffness of the original robot, change the supporting structure of wrist. By integrating the manipulator, steeper motor and control board, solve the problem of the limited work space by alignment. Redesign stepper motor and r/c servo drive circuits to increase the driving capability. Based on the D-H method get robot kinematics and inverse kinematics; using the law of Newtonian mechanics and considering the robot structure, get the obstacle surmounting conditions, crossing ditch condition, climbing conditions, turning mode and the conversation condition between manipulation mode and the locomotion mode; using the characteristic of robot's manipulator length can change, plan the obstacle surmounting process.Use Lyapunov function to design speed model tracking controller and acceleration mode tracking controller in order to achieve the target tracking, and matlab simulation proves that the tracking controller design is correct. Construct the experimental system, do the rotating with gripper as axis, fetching and dropping experiments in the manipulation mode. Do obstacle surmounting, climbing experiments in locomotion mode. Do the transformation experiment from locomotion mode and manipulation mode. Certify the mechnical structure of the robot, the drive circuit design, control software.