| The characteristics of the wheel-leg-type mobile robot is integrated with that of wheel-type mobile robots, such as high speed, high efficiency and high agility, and that of leg-type mobile robot such as strong obstacle climbing capability, and compared with caterpillar mobile robot they also have the advantages of simple structure, small weight and low consumption, which make them widely used in detection, danger elimenation and rescue etr . This paper design a kind of eighth-wheel-legged mobile robot with low cost and strong function according to the project requirement, created the 3D model of the robot and simulated its movement to verify its ferformance by using the virtual prototype technology. The main jobs have been done are shown as below:First, reviews the development of mobile robots,collected the latest domestic and foreign materials about mobile robot and wheel.legged mobile robot; Expounded the characteristics of various of mobile robot, and the advantages or disadvantages of wheel-legged mobile robot; Introduced the development of the virtual prototype technology.Secondly, analyzed the requirement of the subject, determined the movement type and drive method; Designed the overall structure of the robot, designed a new wheel-legged transmission system; Designed the drive system of the mobile robot, including driving method selection and parts design; Created the 3D model of the mobile robot in Pro/E.Thirdly, finished the mechanical design of the major parts of the robot, including calculating the power, speed of all the motors and selecting the type of the motors and the decelerators; Calculated the torques transmissing on major spindles, auxiliary spindles and bushings, ensured their geometry size, check its strength; Designed the gears in the wheel-leg transmission system, calculated the parameters of the gears according to the requirements of fatigue strength of tooth root of the gear, ensured the modulus, the nummber of teeth and the width of tooth; Calculated the torques and forces in driving system, selected the type of the chain, and designed the sprockets.Finally, created the simplified 3D models of virtual prototype in ADAMS , and created a virtual prototype of simulation environment according to the real situation, including material selection of the key parts of virtual prototype and parameters setting of the 3D contact relation; simulated the virtual prototype movement in various terrain, including climbing, surmounting vertical obstacles, crossing ditches,turnning and moving on side tilt terrain, proves functions of the mobile robots each; did the simulation for optimizing of wheel-leg initial angle and the length of legs. |
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