Structural Design And Prototype Development Of A Six Wheelall-terrain Mobile Robot

With the rapid development of robot technology, because of the advantages of movement flexibility, complex environment adaptability,intelligence and so on, all-terrain mobile robots have gained more and more attention. For the hazardous work environment of petrochemical enterprises, it is an urgent need to study the inspection robot which can replace the staff to complete the inspection tasks. Considering the slope, steps, trenches and other complex terrain in petrochemical inspection environment, this paper aims to study a mobile robot platform with high obstacle-climbing ability, flexible steering, smooth operation, adaptive terrain. In this paper, the main research contents of the six wheel all-terrain mobile robot are as follows:(1) According to the complex terrain conditions of petrochemical enterprises, the performance index and the overall design scheme of the robot are determined. According to the requirement of turning in place, the drive system is designed. According to the requirements of obstacle-climbing ability,the suspension structure is designed. Based on Solidworks software, the 3D model of the robot is built, and the selection of the motor and reducer is calculated, and the key parts are analyzed by finite element method.(2) According to the determined wheel configuration scheme, kinematics model of the robot is established, and the moving state of straight line driving,turning in place, oblique driving are analysed. On account of ADAMS,kinematics simulation and analysis are carried out, and the curves of motion parameters are obtained. These will lay a solid foundation for the design of the control system.(3) According to the obstacle pose of robot front wheel, middle wheel,rear wheel, the dynamics model of the robot is established by Alembert method. On account of ADAMS, dynamic simulation and analysis are carried out, and the curves of driving torque and mass center position are obtained.The correctness of motor and reducer type selection and the rationality of robot structure design will be verified.(4) Based on the determined experiment scheme, the ramp angle,carrying capacity, obstacle-climbing ability, error of turning in place are tested.Through the experimental data, the performance of the various aspects of the prototype will be verified.In this paper, the six wheel all-terrain mobile platform has laid a foundation for the engineering application of the petrochemical inspection robot.