| In this paper the multipurpose special Mobile Robot is studied. With the currentdevelopment of robot technology a mobile robot platform which can carry a variety ofdevices is designed according to the functional and performance indicators. The mobilerobot can be used for fire protection, Reconnaissance, detection and other dangerousoperations.The mobile robot is composed by two parts. One is the mobile platform and the otherone is the 2D following carrying platform.The upward guiding wheels, following wheels, auxiliary wheels and driving wheelsare included in the wheel system of mobile robot. The track is used as the transmissionsystem. Also the optimization to the track is studied in the paper. The designs ofsub-systems such as driving system, running system, chassis system and so on are sttidiedon the basis of the overall appearance. The freedom and mechanical structure of thefreedoms to the 2D following carrying platform is designed and calculated detailed. Thedriving system of the 2D carrying system is also researched. An integrated plan for themultipurpose special mobile robot is designed finally.The dynamics analysis on working condition of climbing obstacle is made on the basisof structure design and simulating through MATLAB to obtain the analysis result. Thedriving force in the process of climbing obstacle is obtained. The result can be used as thedirect theory for performance optimization later. At the same time, the finite elementanalysis by ANSYS to some key parts is made to assure that the parts can meet the needsof strength.At last, the paper gives advances for further optimization and views the prospect ofthe multipurpose special Mobile Robot. |
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