Study On Mechanical System And Key Technology Of Stair Climbing Robot

In an artificial environment, stairs are one of the most special, the most difficult obstacle to surmount for the obstacle-surmounting robot. Through in-depth analysis of the characteristics of various ladder climbing and obstacle-surmounting machanisms and the characteristics of their corresponding climbing objects, aimed at the stair steps, based on the advantages of wheeled robots and walking robots, designed a ladder climbing and obstacle-surmounting mechanisim which has a composite structure with deformation wheels, it has the relatively obvious advangtage. The mechanisim gave the consideration of the advantages of the wheeled, legged, crawler structures and improved the obstacle-surmounting performance and the passing ability of the ladder climbing and obstacle-surmounting robot, overcomed the defects of the movement type of the traditional wheeled, legged and crawler structures. In addition, another two innovative points of this topic is designed a gravity center adjusting mechanism which is suited to the ladder climbing and obstacle-surmounting robot, improved the stability of the robot; the robot implemented free switch between two wheels drive and four wheels drive in different working environment through an electromagnetic clutch, reduced energy consumption, and improved the ability of obstacle-surmounting. Research of this paper build a good platform for further study and design better structural performance, higher intelligent control obstacle-surmount-ing robot.This paper selected the stair climbing robot as the object of research,the main research contents are as follows:1. This paper adopts the method that combines theoretical analysis, computer simulation and experimental analysis, according to the design requirements and the working environment requirements of the ladder climbing and obstacle-surmounting robot, completed the total design scheme of the mechanical system of the robot, including the robot body structure design, robot traveling mechanism design, robot drive system design and designed a kind of fine-tuning gravity center adjusting mechanism which is suited to the ladder climbing and obstacle-surmounting robot based on the mechanical structure and traveling system of the robot.2. In this paper, the mechanism kinematic analysis was carried out on the mechanism, based on the analyzing of the working principle of the composite structure with deformation wheels; proved the feasibility, stability and the obstacle-surmounting performance of the implementation of the robot moved along any curve and climbing the stairs-step and other obstacles, provided the basis of improving the working stability of the robot. The design of Drive system of the climbing stairs robot based primarily on the robot motion parameters and the required drive torque of the motor, selected the model of motors, electromagnetic clutch and steering gear and other drive elements.3. Introduced the virtual prototyping technology, three-dimensional modeling by Pro/E, and then through the seamless interface MECHANISM / Pro imported to mechanical system dynamics simulation software ADAMS to carry out the motion simulation, achieved the change rule of the inclination of the vehicle body in the process of the robot climbing stairs and the changes of the power of front and rear wheels, found the influencing factors of the fluctuations by analyzing, and provided improvement advices. Through the virtual prototype simulation analysis, Saved the cost for the next production of the experimental prototype.4. According to the main structural design parameters of the ladder climbing robot, making the experimental prototype, and conducted experiments of its related property, proved the ladder climbing robot has a strong adaptability, feasibility, stability and other characteristics through practice.