Design And Research Of Mobile Robots With Transformable Wheels

At present, the quality, volume, quick stationarity, obstacle crossing ability and operating environment of miniature ground-moving robots are difficult to balance multiple factors. Based on the miniature ground-moving robots, the high obstacle crossing ability as design objective,and the environmental adaptability and obstacle crossing ability as design index to design miniature ground-moving robot with obstacle crossing ability, light mass, small volume and lowcost.On the basis of the study research, three miniature ground-moving robots with high obstacle crossing ability are proposed. First of all, the miniature ground-moving robot with half-round wheel is proposed according to the design idea of profiled wheel, the robot has high obstacle crossing ability and quick stationarity. Secondly, the miniature ground-moving robot with umbrella-shaped wheel is proposed based on the transformable wheel, the robot has has high obstacle crossing ability,at the same time,the robot has the advantages of light mass, small volume and easy to carry. Thirdly, based on the design idea of profiled wheel and transformable wheel are fused, the miniature ground-moving robot with transformable wheel is proposed, the robot has high obstacle crossing ability and advantages of profiled wheel and transformable wheel. The kinematic analysis, dynamic analysis, the obstacle-surmounting process analysis and analysis of common road through Adams software are provided about three miniature ground-moving robots.The maximum width of gap, maximum height of obstacles and maximum angle of slope are obtained by the simulation. The prototype design of three miniature ground-moving robots have been done by SolidWorks software. The prototype manufacture and prototype experiment of miniature ground-moving robot with half-round wheel and the miniature ground-moving robot with transformable wheel have been finished.The obstacle crossing ability of the miniature ground-moving robot are obviously improved. Each machine design has its applicable environment. The miniature ground-moving robot with transformable wheel conforms to the design goal of this paper. The robots provide a new kind of technology and research approach for ground mobile robot with high obstacle crossing ability.