Research On The Power Steering System Of Articulated Wheeled Robot

According to the robot's organization characteristic and environment characteristic, the terrain that the robot through on may divides into the containing terrain and the non-containing terrain.The containing terrain is refers to the terrain that the robot can pass through smoothly by coordinating its own posture,but the non-containing terrain is refers to the terrain no matter the robot does adjust the terrain,it is unable to pass through.Articulated wheeled robot with two degree of freedom is driven by the four wheels.When it face the non-containing terrain,it can adapt the strange terrain by coordinating its own posture.But do not like thtrack-laying vehicle such to have the process which falls falls,also not like the ordinary automobile such to jack expires.Thus it has strong cross-country power but the structure is simple.In addition,the articulated wheeled robot also has nimble,the fast maneuvering performance and the modular work installment,so it can complete the rock drilling,the loading,thing function and so on.It is the high technology equipment safeguard of emergency disaster relief,path dredges,open country dangerous work and so on under the complex environment.This articulated wheeled robot uses creative articulated bodywork with two degrees of freedom,the entire time four-wheel drive,the articulated turning,the modular multi-purpose work installment.Entire machine the walk and thinstallment use the remote control operation,which can depend upon the chassis the hinge to distort but automatically adapts the ground condition,has the greatly strengthened puissance ability.It uses the articulated type power to change direction and can obtain the smaller radius of turn and the bigger rotating torque,so it has very strong maneuvering performance.The more impaired ability of high traffic system of the robot, due to the complexity of the situation on the ground, it often requires a larger turning method, the ordinary turning method can not meet the requirements of the steering torque. And the wheel steering system is the key to the efficiency of assembly operations. In this paper, the title of the paper is research on the power steering system of articulated wheeled robot. This article divides into seven chapters altogether,each chapter is as follows:The 1st chapter elaborated the research significance of the articulated wheeled robot,and has carried on the outline on the domestic and foreign research present situation about wheeled motion robot. In addition,it is listing the basic mentality and the structure of this article.The 2nd chapter briefly introduced this topic research object——the basic structure of the Articulated wheeled robot with two degree of freedom. And elaborated the design program of the power steering system of articulated wheeled robot.The 3rd chapter through the use of electro-hydraulic proportional control technology, designed a new type of electro-hydraulic proportional pressure control amplified steering system, detailed description of the hydraulic control system of the working principle and its components. And through the use of transfer function method to establish the proportion of relief valve and flow valve to enlarge the transfer function.The 4th chapter used the ratio of electro-hydraulic closed-loop position control system,designed the ratio of amplifier and PWM control unit circuit, controlled Electro-hydraulic proportional pressure valve output pressure of the corresponding, connecting the electronic control system and hydraulic parts.The 5th chapter elaborated PID control theory and characteristics of of the articulated wheeled robot with two degree of freedom,designed adaptive fuzzy PID controller and doing the corresponding algorithm design.The 6th chapter used the Matlab software to establish the three dimensional modelling and carry on the concrete simulation computation of the articulated wheeled robot's adaptive fuzzy PID controller ,has confirmed that the theoretical analysis is correct.The 7th chapter has carried on the summary induction to the full text and obtained the related conclusions.Working through the above-mentioned, Wheeled robot's steering system can working in accordance with the condition, and settle the conflict between the efficiency and driving stability, to provide the reasonable steering system for articulated robot, so that remote operation of power steering system is possible.