Study On The Mechanism Of A Passive Self-adaptive Mobilerobot

In major disasters such as earthquake, using robots to replace part of dangerous humanrescue work is the development trend of future rescue work, the aim of this project is todevelop a information collection robots which applied in complex unstructuredenvironment, providing theoretical basis and technical reserves for the rescue robotresearch and application in our country.The main research contents and results are as follows:1.After making the analysis of the advantages and disadvantages of the robot wheeledmobile mechanism, the crawler mobile mechanism, the leg type mobile mechanism andresearch situation of the composite mobile mechanism and robot active adaptive mobilesystem and passive adaptive mobile system, puts forward the necessity to develop acaterpillar shape-shifting mobile platform with passive adaptive ability. Passive adaptivecrawler shape-shifting mobile platform consist by the car body module, passive adaptivecrawler module, the swing arm module and a tail wheel module.2.Passive adaptive deformation crawler module can improve the robotobstacle-navigation ability and the ground adaptability by change the shape of passiverobot tracks. The robot passive adaptive deformation crawler module used a suspensionsystem of underactuated closed chain mechanism to ensure that can realize the passivedeformation of the track shape which is the innovation point of this paper; Swing armmodule function to make the robot get through the obstacle when the chassis get stuck incomplex unstructured environment; Tail wheel driving module can keep the balance ofrobot platform itself in complex unstructured environment when back occurs, assist therobot get through obstacles.3.When make the analysis of robot kinematics, the complex unstructured environmentis abstracted into slope, convex platform, trenches, etc.; Establish the robot’s drivingequation, analyze of the robot’s driving force and the driving resistance; Make deliberateanalysis when the robot get through slope, convex platform, trench performance of severalkinds of typical barriers. When conduct the robot prototype experiments, the three typicalobstacles of slope, convex platform and trenches are set up artificially, conduct the fieldtest and the robot prototype all meet the design requirements. This paper completed themechanical structure design,3Dmodel, dynamic simulation, kinematic analysis,prototyping, and prototype experiment.