Study On The Mechanism Analysis And Synthesis Of The Stair-Climbing And Obstacle-Traversing Robot

Based on the analysis of the existing mobile robot，This dissertation research a new typetraveling mechanism of robotTriangular-Star-Wheel, it can be applied to the workingenvironment of the plains, obstacles, slopes, stair. It has important signiifcance to improveindependent capacity and living standard of handicapped and disabled older people. Thispaper constructed kinematics equation of Stair-climbing and Obstacle-Traversing Robot,based on the mobile robot kinematics theory; According to the characteristics of commonobstacles and the indexes for ride comfort of robot，optimization design to the robot systemmechanism; Make mechanics analysis and checking of the drive shaft by using ANSYSsoftware; Established dynamic model and carried on dynamic analysis with stair-climbing andobstacle-traversing course of robot; Made the preliminary design of the robot control system.The main research contests include:1)According to the status quo at home and abroad, based on the analysis principles andcharacteristics of different mobile robot walking mechanism, proposed Triangular-Star-Wheeland described its working principle in detail;2)According to the mobile robot kinematics theory, construct the kinematics equation ofStair-climbing and Obstacle-Traversing Robot with Triangular-Star-Wheel. First, set upmechanical model of wheels in the gear train, and then based on the wheels model set up geartrain model，ifnally according to the movement characteristic analysis of steering motion, gotthe mathematical model of lateral velocity, longitudinal velocity and angular velocity withwheel between the overall speed of Stair-climbing and Obstacle-Traversing Robot.3)Based on the barrier characteristics and ride comfort index of robot, take tomechanism design and dimension synthesis for robot. First, according to the barriercharacteristics of robot，sure of main technical parameters in obstacle working environment;second，described the principles and design the machine of working mechanism and rollingmechanism respectively, and list the important technical parameters in a tabular form;Analysed the stress of center axis by the large analysis software ANSYS; Then determine thestability index of the slope movement through the analysis of Stair-climbing andObstacle-Traversing Robot which walk in forerake and list; Finally, put forward comfortindex and optimize the robot mechanism.4)Have done dynamic analyses of the Stair-climbing and Obstacle-Traversing Robot byusing ADAMS. Set up ADAMS model and got the model of lfip-flop movement, level movement and slope movement with the software of ADAMS. In this way，comparedwith conclusion and make it in mechanism analysis and synthesis.5) Complete the preliminary design of control system. Based on robot mechanism design,provided a control system designing scheme of robot, this is the foundation of the followingresearches.