| Nowadays the mobile robot in order to satisfy the needs of quick trip and maintain stable in different terrain environment, mostly adopts two or more complex manner, using different travel mode in different environment, which has greatly enhanced the robot terrain adaptability. This paper presents a new type of wheel-legged mobile robot platform, it use wheeles march on a flat terrain environment and use wheel leg composite march method on a uneven terrain environment. It can span equivalent to 1.2 times wheel diameter high barriers, relaxed climb 40°slope, and can realize slopes braking, the terrain adaptability is strong.This paper describes the structure feature and size parameters of the wheel-legged mobile robot platform in detail , and describe its drive system and wheel-leg system structure and working principle in detail, analyses its march strategy and the corresponding posture change principle in different terrain environment.Carried out the kinematics analysis of the robot platform, including steering kinematics analysis, pose model analysis, and the relationship between the pose of the robot platform reference piont and the stance of the wheel-leg terminal. And used MATLAB to verify the result of the inverse kinematics analysis.Analyzes the over-obstacle performance of the robot platform, and analyzes the relationship between the over-obstacle performance and friction coefficient , structure size. And get the corner relationship of the front and rear wheel-leg system when it crossing step or groove, thereby make the theoretical basis ready for the robot control system design.Carried out the kinematics simulation of the robot by UG. Include robot model bulit, assemble, different terrain environment movement simulation.The simulation results verify the feasibility of this scheme and the correctness of the over-obstacle strategy. And export the driving force curves in different terrain environment, thus make the theoretical preparation ready for the robot motor selection. |
PDF Full Text Request