Structure Design And Research Of Comprehensive Test-bed For Walk-aided Robot

The Comprehensive Test-bed is of special purpose test equipment mating for walk-aided robot, which can test the whole performance including parts of work load, motive coordination and safety tests and check before acceptance of the robot. The performance indicators of specific projects that should reflect include static, dynamic stability, braking ability, environmental testing and acceleration test, disability, power and control system of inspection, etc. Low-cost, security, intelligence, of high precision detection and no difference in the field and the human impact on subjective judgment are characteristics of the Comprehensive Test-bed, which can do a good help to guarantee the safety, reliability, comfort, will help to optimize designs for functional walk-aided robot, the doctrine is also of importance.Firstly, I bring up the design requirements and performance indicators of the Comprehensive Test-bed to meet the performance characteristics of the robot, determine the scheme of the structures design for function parts through discussion, and set out the tracking control systems and data collection processes to display the parameters in order to complete the general plan design. The Comprehensive Test-bed is made up by test platform and the computer measurement and control system platforms. The test platform contains leading and protection device for walk-aided robot in the humanistic design principles, load surface analogue mechanism with curvature radius for simulation actual environment, inertia match adjustment mechanism for all kinds of work load using, synchronization teeth-shape belt transmission with a high speed ratio, rise-down mechanism through electrical Scissor jack for 10 degrees slope, all-locked truckle with convenience to move and so on.Then, system kinetic model is established by analyzing the corresponding relationship between the detection velocity and the pulling force of the rope between the Comprehensive Test-bed and the walk-aided robot. The size of key components is determined, for the large cylinders and so on, by work and energy principles, and I finish the design calculations and check work of master slave kinematic axis through strength and stiffness theory. The various functional units are modeled by Pro/E and the installation process is ensured in smooth progress with the simulation of movement. The finite element analysis of the structure by ANSYS is my accomplishment also. Finally, it is completed that the installation for functional units of the Comprehensive Test-bed and debugging work. Programming work is finished by VC++ using specific algorithm in order to display the function parameters automatically through industrial computer and sensor for data collection. I have completed the experiments research by analysis of real-time test data, so that the friendly man-machine output interfaces for all that can direct show the robot's function parameters meet the requirements or not and provide a technology safeguards report.