Research On Kinematics And Obstacle Crossing Of Wheel-leg Robot

Petrochemical industry is pillar industry in the national economy, however, in thepetrochemical industry, the harmfulness of deleterious accidents of leakage and explosionoften occurred. To perform leakage monitoring&warning and accident rescue application,there is an urgent need to develop a mobile robot that can substitute for rescuers enter thescene of the accident to collect the traffic-accident message and complete theSearch&Rescue mission. This dissertation is derived from―rescue system for leakagemonitoring&warning and accident in wide area hazardous environments‖, supported byTianjin Science and Technology program. For the design requirement of the robot, thepurpose of this dissertation is design a novel mobile robot, which has highly environmentaladaptability and interference ability. Therefore, around the obstacle striding mechanism andadjustable tilting mechanism, kinematics and dynamic stability of the mobile robot isstudiedIn this paper, many efforts are made and some results are achieved as follows:1．The wheel leg type mobile robot structure are designed according to the researchbackground, and innovative robot adjustable tilting self-adaptation, and are designed bymeans of stepwise design, have the barrier system and adjustable tilting system, even in theuneven road surface it has stronger adaptability.2. Set up a kinetic model of robot during climbing obstacle and analysis of the model ofthe forward kinematics and the inverse kinematics. Set up a kinematics model of robot’sparticle which has great influence on stability dynamics, analysis of the impacts of barriersystem and adjustable tilting system on the centric position of robot, the analysis canprovide theory basis for the dynamic stability studies of the robot.3. By Normalized Dynamic Energy Stability Margin analytic method, the dynamicstability of robot when use different gestures traversing slop is studied, analysis of theimpacts of speed and acceleration of robot on the dynamic stability of robot, and analysis ofthe effect of the adjustable tilting system on enhance the stability dynamics, andverify the correctness of the stability dynamics model.4. Set up a kinetic model of robot on Virtual Prototyping, and verify the correctness ofkinetic model of robot’s particle and dimensional kinematic model.