The Research Of Differential Mobile Robot Motion Performance

With the development of modern science and technology, the robot has received extensiveattention, especially for mobile robots. The mobile robot is mainly used to explore a number ofdangerous and unknown environments geographical, especially for mobile robot in complex roadterrain adaptability stronger than the average mobile robot. In order to improve the practicality ofthe robot in a complex environment，required the mobile robot can adopt different kinds of roadconditions, not only moving in plain road smoothly, but also climbing the stairs in irregularcomplex environment.First of all, compared sports performances and obstacle clearance capacity of the variousmobile mechanism; designed a new type of composite mobile robot as a differential mechanismtransmission system, designed the layout of the overall structure of the robot; analyzed themotion characteristics of the transmission mechanism; described the action of the state of motionof the mobile robot under the transmission system; analyzed the moving mechanism size of thecondition when the robot climbing obstacle; analyzed the center of gravity position changing inthe trajectory during the movement of the robot.Analyzed the robot’s movement of the linear motion and climbing obstacle; calculatedkinematics and dynamics models, used the three-dimensional software to create solid models,and used the dynamics analysis software ADAMS to simulate the robot’s state of plane motionand climbing stairs, draw the curve of robot’s motion simulation.Finally, used the concept of stable cone analyzed of the static stability of the robot, solvedthe relationship between the robot static stability and structural dimensions; used tipping indexdiscriminated analysis dynamic stability two state of motion when the robot climb stairs and theemergency brake sports, to determine whether or not the robot to meet requirements of dynamicstability.