Obstacle Performance Research Of Mobile Robot Based On Virtual Prototype Technology

Firstly, the classification of mobile robot is introduced briefly, and the advantages anddisadvantages of a variety of different configurations of the mobile robot such as the wheeltype(single-wheeled, two-wheeled, four-wheeled), the leg type and the compoundtype(leg-wheeled, leg-wheel-tracked) are pointed out. And then development history of thevariety of mobile robots at home and abroad, research results and potential applications areintroduced; The design is summed up on the basis of previous research and application ofvirtual prototyping technology, and then a more systematic concept of virtual prototypingtechnology and its superiority in product development are described. And virtual prototypingsoftware of ADAMS is analyzed in detail, which illustrates the wide range of applicationcapabilities in mechanical system dynamics simulation technology.And then the overall design of mobile robots and mechanical body design are completed.Through analysis, comparison of various domestic and international mobile solutions ofmobile robot, an independent driven mobile mechanism scheme combined with wheels andlegs is proposed. The robot structural design systems able to meet the design requirements,and functions expected have been realized initially. It can be applied to the indoorenvironment and outdoor structure of non-structural environment, such as reconnaissance,detection, anti-terrorism, defusing dangerous operations and so on.The robot is constructed in three-dimensional physical structure model by using UG3Dmodeling software, and several typical road conditions the robot may encounter are analyzedby using Newton Euler method and ADAMS to establish dynamic models. Then simulationexperiments are conducted to test the slope negotiation capability and ditch negotiationcapability.Through the data analysis and comparison of robot obstacle negotiation and driving force,the relationship between the two is found; And by the analysis of main operating status andthe dynamic stability of the robot, the best sports mode is found when the robot climbs;Through the analysis of the robot movements on the different obstacle roads, theled-wheeled robot has some certain obstacle negotiation capability in order to verify thestructural design of the robot to meet the subject requirements of the design goals. Basicobstacle negotiation capability expected is achieved, and theoretical basis is provided forfurther analysis of the robot’s dynamic characteristics in other roads movement.