Planetary Wheel Stair Climbing Robot Car

Staircase is the most common man-made obstacles, and it's also one of the most difficult obstacle to cross for mobile robot. The thesis major introduce the designing of the wheelsets stair-climbing robot. After deeply analysis the stair-climbing frame and the object, designed a wheelsets stair-climbing robot with more advantages than others. Analyzed the kinematics model of the robot car , and demonstrate the available of achieving any curve movement with the rotation , straight forward, and arc forward . Robot can achieve track controlling based on speed matching. With the aid of virtual prototyping technology, through the 3D software of SolidWorks, the dynamic analysis of the stair-climbing robot is carried out in ADAMS. Analysis the changing of the angle of the robot during up and down stairs ,and find the reason of the change, also, give the advice to improve it.; analysis the change of torque of star-wheels, and the power consumption for the front and the rear star-wheels, provide the parameters for designing good frame and save the money for making excellent physical prototype. At last, the thesis design the controller system with the core of C8051F310 based on rule environment. In the control system, with the help of arranged ultrasonic sensors, get the two key parametersθand q which import for climbing staircase. Analyzed the circuit of high-power motor driving, design a more suitable circuit than IC L298N. According to the main structure parameters of design, made a physical prototype, demonstrate the available of the program. Overall, the thesis made a good platform for designing a better frame and more intelligent controller.