Design And Performance Simulation Research Of The Reconfigurable Mobile Wheel-armed Robot

Reconfigurable mobile robot can accomplish the complex mission through reconstructing according to the changes of outside unknown environment. Recently, the reconfigurable robots that had been put forword only changed the configuration of groups to finish the special abilities, and the unit module cannot operate independently or its operation abilities are limited. Under the financial aid of key project that Design and Experimental Research for The Reconfigurable Mobile Wheel-armed Robot of Department of Education of zhejiang province, virtual prototype of the reconfigurable mobile wheel-armed robot has been studied, and the structure design and has been accomplished, and kinematics and dynamic modeling and simulation have been completed, all of which have the high reference value to the system of reconfigurable mobile robot.With regarding to the design for the ontology structure of the reconfigurable mobile wheel-armed robot, the design scheme of the radially foldable wheel configuration and four-freedom mechanical arm and so on has been brought up. Then the structral synthesis of monomer and reconstruction configuration have been completed, and the technical parameter of the reconfigurable mobile wheel-armed robot has been determined. Lastly, the virtual prototype is established.With regarding to the kinematics modeling and simulation, the D-H coordinate transformation positive kinematics has been set up through the positive kinematics analysis for the reconfigurable mobile wheel-armed robot, and the last state solution of inverse kinematics has been obtained. The jacobian transformation of the reconfigurable mobile wheel-armed robot has been analyzed and the two solutions have been put forward. Then the simulation models of monomer and two monomers reconfigulation have been established according to the ADAMS in order to set the road conditions of turning, obstacle negotiation, climbing for the simulation modeling. After simulation, the height variable curves of main body mass center and the pitch and yaw angles with the time varying have been got when the robot crosses the setting road.With regarding to the dynamic modeling and simulation, on account of motion environment of the reconfigurable mobile wheel-armed robot, the contact mechanics model between wheel and ground has been built. The dynamic modeling of mechanical arm has been established in the application of multi-body dynamics theory. Using ADAMS software has solved the dynamic equations of the reconfigurable mobile wheel-armed robot, and then the corrresponding dynamic performance parameter curves of each position, velocity, acceleration, angular velocity and acceleration including centroidals of the main body, the right wheel, the auxiliary wheel have been aquired, angular momentum about the centroidal of the main body have also been yielded. All of that can provide the foundation for the follow-up work that control of the reconfigurable mobile wheel-armed robot.