Design A Control System Of An Articulated-tracked Mobile Robot And Analyse Its Stair Climbing Ability

With the expanding of human activity, robot application has developed from manufacturing areas to non-manufacturing areas in recent years; mobile robot is needed to complete the corresponding task for human. The places where mobile robots have to work are generally complex, which requires the robot system must have stronger self-adaptable obstacle-surmounting ability in various types of terrains; the analysis of stair-climbing ability, an important indicator to measure the obstacle-surmounting ability of a mobile robot, is a key point in the research of mobile robot obstacle-surmounting ability.First, this paper describes the mobile robot control system design. According to functional requirements of the robot, the robot control system has been designed and hardware integration has been completed. Corresponding controlling software has been written for robot control. Control system consists of the robot body control system and control box remote control system; the robot itself can capture video, audio and environmental information, and control box can realize remote control of robot body.Second, the paper analyses the static stability in stair-climbing process of the robot. Through the establishment of the robot's kinematic model the coordinates of the robot center of mass is obtained in the fixed coordinate system; the climbing action is planned, and the position of the robot at each period during the stair-climbing process is obtained; the static stability of the robot is analyzed with combination of each position of the robot during the whole stair-climbing process, and a criteria to evaluate the static stability of the robot during the stair-climbing process is obtained.Third, this paper analyzes the impact of the track-stair interaction force on the stair-climbing process. In the situation where the robot climbs the standard stairs, the single point track-stair interaction is analyzed, and the single point nonslipping condition in various force condition is obtained; then, the slipping phenomenon and the slippage are analyzed combined with the standard stair-climbing action plan of the robot. The total track-stair interaction force is analyzed on the basis of kinematics, and the criterion to evaluate the tip-over stability of the robot during each period of the standard stair-climbing process is obtained. Moreover, the anti-rollover prediction algorithm is obtained.Finally, after the completion of the whole machine tuning and initial trial operation, the correctness of the action plan for the robot to climb standard stairs, nonstandard stairs, and steps is experimentally verified, and the effectiveness of the anti-rollover prediction algorithm is verified through contrast experiment.