| With development of science and technology, human exploration of unknown world is in continuous deep, however, face the difficult operation, poor working conditions, risk operation situation and so on, the barrier across function of general mechanism is difficult to be used on the complex road. Therefore, the importance of in-depth study of the obstacle crossing mechanism is increasingly significant, gradually become hot topics in the study of domestic and foreign experts. Thesis through deeply study the advantages and disadvantages of wheeled and legged climbing mechanism, and wheel-legged obstacle mechanism is presented. Mainly studies of its transmission structure, static mechanical properties and barrier properties, the main research work and conclusions as follows:(1) For the purple of wheel and leg obstacle cross mechanism in accordance with specific drivers, in this thesis, two 2K-H planetary gear mechanism is connected in series, through calculation of the number of teeth and coordination, design a two output planetary gear transmission.Use variable constraints of applying and releasing in the movement process, the obstacle cross mechanism automatically select leg mechanism aided obstacle cross when encountered vertical obstacle pavement in mobile process, and greatly enhance the mechanism of adaptive capacity.Finally, through the simulation analysis of kinematics simulation software,the feasibility and correctness of the variable constraint drive is verified.(2) In this thesis, with the mechanical leg auxiliary obstacle crossing mechanism, the 2UPR-UPU four degree of freedom parallel mechanism with high precision and high bearing capacity is designed. In the processof research analysis on the track and bearing capacity of the mechanical leg. First, The corresponding coordinate system of the corresponding2UPR-UPU parallel mechanism is established. According to the established coordinate series, the closed loop constraint vector equation is establi shed. By solving the constraint vector equation, the Jacobi matrix is introduced, and the mapping relationship between the input and output of the mechanism is obtained. Second, through the principle of virtual work established statics equation, and the static matrix equation according to the static relation equation and through the fan function operation and the Lagrangian by operations for statics evaluation index are obtained, and programming the simulation that the static stable performance.(3) The whole thesis of obstacle performance obstacle crossing mechanism are analyzed. Some structure of complex were reduced is to ensuring the virtual prototype simulation exercise integrity, and built three dimensional simulation of virtual prototype model. The kinematics simulation is analyzed by kinematics simulation software, and the obstacle crossing mechanism obstacle performance is verified. In this thesis, the composite wheel legged obstacle crossing mechanism of obstacle capability is up to 500 mm, and the simple wheeled obstacle navigation institutions 267 mm improve 2.33 mm.In this thesis, the obstacle surmounting mechanism is thoroughly analyzed, Obstacle performance stronger of wheel leg hybrid obstacle crossing mechanism is verified. The results of the research have far-reaching significance to promote the development of mechanical adaptability and intelligence. To promote the obstacle-surmounting mechanism has an important value in practical engineering is widely used. |
