Design And Research On General Chassis Of Mobile Robot

With the development of scientific technology, the research of robot technology has been paid more and more attention and of concerning. Compared with biped robot, the wheel mobile robot obviously has the advantages on moving speed, running stability, range of application, carry capacity and so on. Especially in service robot, patrol robot and exploration robot, the application of wheel mobile robot is more common.For running lastingly and stably, robot cannot leave the excellent mechanical system. This paper mainly aims at the research and analysis for the moving mechanism of the wheel mobile robot, and designed an omni-directional mobile robot all-purpose chassis which can be applied in narrow space. Based on the concepts of modularization and serialization, we designed various types of all-purpose chassis to satisfy the functional requirements of all kinds of mobile robots. This paper designed an independent suspension system which can reduce the vibration brings by the road incentive. The suspension system will reduce the parts fatigue damage and precision transmission errors which are caused by vibration and make the robot has better adaptability to the road condition.In this paper, the main work is as follows:1、The research status and development trend of wheel mobile robot at home and abroad were introduced, and summarized the advantages and disadvantages of the wheel mobile robot, and the key technologies of mobile robot. Second, this paper contains an overview about the history and common type of omni-directional wheel (ODW), and included the structural feature of the different omni-directional wheels. Finally, the application prospects of the wheel mobile robot in every field were stated.2、The structures of omni-directional mobile platform were illustrated and the merits and demerits of the layout between the three wheels to four wheels were compared. On this basis, the dynamic models of the all-purpose chassis and omni-directional wheel were built.3、Based on the carry capacity of the all-purpose chassis, the driving forces for all kinds of running condition were analyzed and calculated. Then confirm the motion type, and design the structure of reducer, suspension system and other mechanical structure of chassis. Three ODW modules of Rotocaster, Mecanum and WESN were provided to the chassis for series design.4、This paper designed a new type of ODW structure, and adopted the Hertz contact theory to calculate the strain of the wheel roller contacting with ground. Based on the curvature parameters, we proposed a method to modify the curved surface of rollers. This method can improve the stability of the wheel movement, and eventually was verified with Solidworks/Simulation software.5、The4degrees of freedom suspension mathematical model was established with reference to the automobile suspension system. The suspension system got to a good condition by matching the damp coefficient and rigidity coefficient. Based on the MATLAB/SIMULINK software, the suspension system model can be optimized by testing the centroid acceleration of the chassis.