Design And Research Of A New Type Of Six-wheel All-terrain Mobile Robot

With the development of society and the progress of science and technology,all-terrain mobile robot which has attracted extensive attention is revealing strength inthe military, the deep space exploration, natural disaster relief and field expedition workand so on. The prospect is immense. All-terrain mobile robot technology involvesmechanical simulation, mechanism design, intelligent control, multiple sensor fusion,environmental awareness, visual navigation, path planning and tracking and otheraspects.Based on the study of various domestic and international advanced all-terrainmobile robots, a kind of all-terrain mobile robot which has strong terrain adaptabilityand excellent terrain obstacle-climbing capability has been developed. The robot hascertain innovation and practical value. In addition, the national invention patent hasbeen applied. Through the structure design, kinematics simulation, intelligent control,computation analysis and experimental research of the all-terrain mobile robot, theresult shows this mobile robot has strong ability to adapt to the terrain, climb obstacles(The robot can climb the step which is5times the radius vertical), prevent overturned,steer, avoid obstacles and load heavy items.First of all, the overall design scheme of the all-terrain mobile robot which isguided by the innovative design concept of all-terrain mobile robot is established; thedetailed structure design, the manufacturing and the assembly of the all-terrain mobilerobot are performed by UG platform; dynamic simulation analysis of the all-terrainmobile robot is performed by ADAMS platform. And then the control system structureand software of the all-terrain mobile robot are designed, including the overall design ofcontrol system, introductions of each control unit, connection of the control system,software settings, programming. And then the performance analysis and experimentalresearch of the all-terrain mobile robot are performed, including speed measurement,climbing angle measurement and analysis, test and analysis of the ability to preventoverturning, carrying capacity test, battery life ability test, obstacle-climbing capabilityanalysis and experiment, steering ability analysis and experiment, and obstacle avoidance logic analysis and experiment, etc. Finally,3D-Odometry calculation methodis researched: the kinematics model of the all-terrain mobile robot is obtained and3D-Odometry is applied based on this model, which provides theoretical basis for3D-Odometry experiment of the mobile platform.The result of this study has the reference value and significance to further studyand application of all-terrain mobile robot.