| ABSTRACT:There is a broad prospect on mobile robot. Compared with the traditional mobile robot system, the mobile robot composed by multi-linkage has more variety of configuration and gait, and it has a strong ability to the environment.Based on the theory of the Mechanism and Robotics, this thesis analyzed the structure and designed the modular components through mechanism innovations on common geometric polyhedron, and extended to design a series of modular polyhedron linkage mobile robots. First, analyzed the background to determine the research scheme. Second, analyzed the configuration of the polyhedron linkage mobile mechanism to provide the basis for the modular design. Third, designed the modular components and extended to design a series of modular polyhedron linkage mobile mechanism. Fourth, built a virtual prototype of modular polyhedron linkage mobile robot, analyzed the kinematic characteristics and material properties. Fifth, analyzed the control system of modular polyhedron linkage mobile robot, and proposed a new practical control solution. Finally, produced or purchased all components of modular polyhedron linkage mobile robots, assembled the prototype of modular polyhedron linkage mobile robots, debug them and analyzed the results.This thesis provides a reference for the theory of translational joint driving, the modular design of linkage mechanism and a new practical control solution. |
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