| "The small ground migration robot" is an actual engineering project invested by venture capital of Nanjing University of Science and Technology. Its goal is to develop the small motion robot carrier which can adapt the city special combat as well as the anti-terror war. This platform should have strong maneuver cabability and the terrain adaptiveness. Besides, embarked with different auxiliary equipment, it should complete the task suck as reconnaissance, surveillance, dynamite, attack. We have developed two MROBOT successively during the period of the research. This paper begins with the function demand analysis to propose the different performance target and carry on the corresponding system design on this two MROBOT. It introduces the various subsystems of MROBOT II emphatically. Making the structural improvement of MROBOT II on the basis of structural design of MROBOT I. Discussing the reason in improvement on some important structure such as the chassis, the transmission system, walking parts and so on. Explaining the promotion on the mechanical capability.Making dynamics analysis on several special working condition on the basis of structure design and simulating through MATLAB to obtain the analysis result. Then we have the direct theory of performance optimization.Finally, confirmed the accuracy and usability through the experiment data by doing the experiment on this two MROBOT and checked the whole performance. At last, the paper gives the further optimization plan and view the prospect of this series robots. |
