Design And Reasch Of The Scalable Parallel Worming Robot

With the development of the robot mechanism theory and the intelligent control theory,more and more attention has been paid to the ground moving robot.Different mobile forms and application environment robot has been gradually proposed by scholars in related fields.At present,the ground mobile robot is widely used in many fields,such as military detective,medical service,express logistics,disaster relief and so on.This paper takes the city disaster site exploration and transportation of materials for application scenarios,a novel mechanism made up of 3RPS parallel mechanism and 3P zoom mechanism is proposed(named 2-3RPS scalable platform mechanism)for disaster exploration robot.In this paper,the degree of freedom of the novel machanism,the kinematics forward solution,the inverse kinematics solution and the kinematic gait of the mechanism are analyzed.The analysis results show that the 3RPS parallel mechanism DOF is three,the 3P scalable platform mechanism DOF is one,the 2-3RPS scalable platform mechanism DOF is nine.When the mechanism is principle configuration mechanism for the scalable parallel worming robot,the robot forward gait,backward gait and steering gait were discussed,analyzed the need to meet the mechanism conditions of gait,gives three kinds of gait central moving parts different movement.In this paper,the Adams software is used to simulate and verify the DOF and the gait of the 2-3RPS scalable platform worming robot.The simulation results show that the 3RPS parallel mechanism,3P mechanism and the 3RPS scalable platform mechanism the DOF calculation is correct,the new mechanism of gait(forward gait,backward gait and steering gait)analys is correct,simulation is done as expected.Through the verification of DOF of the mechanism and the gait,the engineering prototype design,processing and assembling of the robot are carried out.In this paper,the flow of the prototype design is introduced.The design of the revolute joint,the selection of the push rod,the design of the ball joint and the design of the scalable platform are briefly introduced.In this paper,the design of the spherical joint is introduced in detail,and analysed the Hooke and the revolute pair is presented.Then,according to the motion strategy of gait analysis,the Arduino development board is used as the main control unit to build the control system of the prototype.The experimental results show that the robot can determine the movements in nine of the original case,and can be expected to be completed in accordance with forward gait backward gait and steering gait analysis results and the simulation results are correct.