The Multi-functional Mobile Robot Equipped With A Platform For Mechanical Design And Analysis

This paper takes the project "multifunctional mobile robot" as the study background, design the 2D following carrying platform and the manipulator of the mobile robot. So the mobile robot can carry launches device or catch things and finishes the special mission in a city. The mobile robot can be used for fire protection, reconnaissance, excluding explosion and other dangerous operations.The multifunctional mobile robot is composed by two parts. One is the mobile platform and the other one is the carrying platform. This paper designs the structure of the 2D following carrying platform and the manipulator and finishes its AutoCAD design. The finite element analysis by ANSYS to the carrying stent is made to assure that the parts can meet the needs of strength. Use the PRO/ENGINEER to model, assemble and simulation the mobile robot ,the 2D following carrying platform and the manipulator.The mechanical structure of the 2D following carrying platform is designed for the request of that the platform can carry launches device. Analysis of its role, work characteristics and requirements. And then analysis the structure properties and perspective on the servo control system.This paper studies the solution of kinematics equation of the manipulator by establishing Descartes coordinate of the manipulator and applying coordinate transformation to derive converse and positive equation of the manipulator. At the same time, this paper uses the Newton-Euler arithmetic to establish the manipulator dynamics equation.At last, the paper gives advances for further optimization and views the prospect of the multifunctional mobile robot.