Research And Design Of The Domestic Wall-rail Robot

With the trend of the times and the internet of things, this project research anddevelop a robot that can run on the track close to the wall to help deal with the dailyaffairs of mankind, combining rail vehicles and robot-related features, so thathumans can separate from tedious household chores and concentrate on meaningfulactivities.The functions and targets of domestic wall-rail robot are concluded withextensive research and analysis of the present situation, then the scheme of the robotsystem is designed for the functions and targets. The robot system include foursubsystems with manipulator, chassis-rail, control and power. Finally, the structuresand hardware of the four subsystems are preliminarily designed.The dynamic characteristics of the robot is modeled and analyzed by the robottheory and theoretical mechanics. The relationships between the driving force andthe steering angular displacement, angular velocity, angular acceleration are given.Since the deduction of the robot kinematics and dynamics is general, the theoreticaland data support is provided for the trajectory planning and the optimization of thecontrol system.The transmission principle of motor is analyzed above all with the foundation ofthe study of dynamic characteristics. Then, the control systems of the manipulatorand chassis is modeled by the research of motor and PWM and the relevantenvironment of the development of the control systems is simply introduced. Finally,the control systems are simulated by MATLAB/Simulink respectively, combiningthe preceding analysis and modeling.Virtual prototype and its technology are simply introduced and the operatingprocedures of the relevant software are discussed. Then, the interference detectionand the structure performance of the robot system is studied by SolidWorksMotion/Simulation respectively, which is used as the simulation analysis tool ofmotion and finite element.In conclusion, the research and design jumps out of the scope of the traditionalmobile robot on the ground, another way, to develop the activity environment close to the wall for robot, extending the robot’s field of activity from the ground to thewall. The competition for the space of ground between robot and human is avoidedby wall-based running and the space is fully used. Using the manipulator enhancethe applicability of robot. The various tasks assigned by users are able to becompleted by installing different operating equipment on the end of the manipulator.