Study Of The Dynamic And Associated-Stability Of Articulated Wheeled Robot With Two Degree Of Freedom

For all mobile robot, the agency has a good stability is a prerequisite for the realization of all functions and infrastructure. Articulated robot as a function of a typical vector product, its stability can be good or bad evaluation of the product as an important indicator. Often as a result of an articulated vehicle in non-structural complexity of the work site, in the face of the whole body articulated more incentives brought about by increased uncertainty in the stability of the system, from one side, the ground level of complexity that affect the stability is an important factor. Therefore, it is critical that the articulated robot when moving all kinds of roadblocks and obstacles can be demonstrated the more impaired ability.According to the institutional characteristics of the robot and environmental characteristics of the robot through the terrain topography can be divided into tolerant and non-inclusive terrain. Inclusive terrain robot refer to the coordination of their own attitude to the smooth passage of the terrain, non-inclusive terrain means the robot how to adjust their attitude can not be through the terrain. Articulated body with two degrees of freedom robot moving body to an ordinary four-wheel driving mode, the terrain encountered by the non-inclusive, it will be rotating through the hinged point of freedom, before and after the coordination of body posture , in order to adapt to strange terrain, the Tracked vehicles such as a drop as the process, will be like an ordinary car as lapsed from the top. Thus, with off-road ability, it has the advantages of simple structure.The articulated robot of two degrees of freedom uses articulated original body, full-time four-wheel drive, articulated power steering, modular multi-function devices work. Walking and working machine which using the remote control device operation can be rely on the articulated body deformation and automatically , because it could adapt to the ground state and strong capacity of the more impaired. Articulated power steering can be used to obtain smaller turning radius and larger steering torque, so the motor has a strong performance. When the articulated robot is in a complex surface, due to changes in terrain vehicles center of gravity changes, so it has the stability. The stability of the problem is an important indicator of performance which impaired the driving organizations. According to the structure of the degree of freedom articulated robot, its stability can be divided into the stability of vertical and horizontal stability. In the horizontal Stability , due to the existing of axial rotation degree of freedom articulated robot, it can be divided into horizontal two-level stability and lateral stability again. For this two-body linked to the form ofhinged, two-body correlation exists associated-stability. From the structure of therobot , we know that there are certain amount of commonalities with the stability analysis of the general articulated vehicles. Therefore, it is conducted in-depth research and analysised the stability of the robot from the basic stability of the articulated vehicle, then we put forward a two degrees of freedom associated-stability to enrich and improve the stability theory of the articulated vehicles.In this article, an in-depth detailed analysis are carried out about the structural characteristics of articulated robot on the basis of the stability of the robot. By using of multi-body dynamics method, I made a detailed analysis of the longitudinal stability of the robot and the horizontal stability , at the same time in accordance with the principle articulated body stability associated to the stability of the related specific definition and analysis of the stability。Then I use the related concepts and the physical meaning of the articulated robot evaluation to analyze the syetem. In order to further analysis to verify the correctness of this article, as well as a more intuitive understanding of articulated robot stability in cross-country, I take three-dimensional modeling software CATIA and ADAMS simulation software into an environment articulated robot to analysis the stability of the simulation.This article is divided into six chapters, the specific content of the chapters are as follows: Chapter I deals with the stability of the articulated robot and its study and research the meaning of the status quo, and proposed a study of this paper, the objectives and content; the second chapter of the static stability the basis of summing up, based on the reasons for failure to study the different dynamics of the articulated robot stability, dynamic stability analysis of the impact of a number of factors, combined with the special structure of articulated robot steering system on the detailed analysis made ; third chapter focuses on the stability of the associated research, and raised on this basis and the definition of the associated coupling degree of the new concept of stability for the association to provide a method of further study. In addition, combining the theory of modal analysis related to the stability analysis; the fourth chapter the use of multi-body system dynamics using Lagrangian established mathematical model of an articulated robot, and the use of articulated multi-body method the stability of the robot to do a preliminary study; the fifth chapter in CATIA and ADAMS software to create three-dimensional modeling, combined with an analysis of ADAMS software simulation when shifting the limits of speed and acceleration as well as the articulated robot in complex terrain under the cross-country state, with the theoretical value and the judge made a comparison; the full text of Chapter VI sums up and summarize the relevant conclusions to draw, and put forward the idea of further studies.Articulated robot impact the stability of many factors involved, such as vehicle traction, tire adhesion, etc. In this paper, there is no lack of space for their detailed study. Articulated robots relevance for the stability of this article only a preliminary study, carried out the basic definition. An extension of the relevant association and its experimental study of the stability of articulated vehicles in the specific application and other issues still need to be further studied.