Research On Mobility Of Four-Wheel Robot

Four-wheel mobile robot is mainly used in the production workshop and warehouse logistics between the delivery,in view of the production workshop and warehouse environment is complex,narrow channel,the four-wheel mobile robot mobility proposed a relatively high demand.In this paper,the maneuverability of four-wheeled mobile robot is studied in this paper,which is based on three aspects:through sex,flexibility and timeliness.The main contents of this paper are as follows:(1)According to the characteristics of four-wheel mobile robot and the principle of steering,combined with the characteristics of workshop and warehouse operating environment,this paper selects the turning parameters such as turning radius,minimum turning time and passing capacity of complex road conditions.Based on the motion of four-wheel mobile robot Principle and Dynamics Principle Define the maneuverability of four wheel mobile robots.(2)By comparing the maneuverability characteristics of several typical four-wheel mobile robot structural models,based on the factors such as the representation and applicability of the research object,we should select the type of the study object,according to the type of the study object Modeling,and gives the modeling process of key components in the selection basis and process.(3)Through the analysis of the motion characteristics of the four-wheel mobile robot,the dynamic equations and kinematics equations of the four-wheel mobile robot are established to solve the turning radius of the four-wheel mobile robot to obtain an accurate four-wheel moving The Dynamic Equation of Rotation Radius of Robot.The characteristics of the four-wheel mobile robot’s turning radius are analyzed by controlling the specific variables,and the accuracy of the analysis results is proved by an example.(4)In order to study the minimization of the time of the four-wheeled mobile robot through the curve,this paper will construct a specific curve by comparing several typical road conditions.By analyzing and studying the specific limit of the four-wheel mobile robot through the curve,the four-wheel mobile robot is established to analyze and study the four-wheel mobile robot through the curve time minimization.(5)By constructing the typical complex road conditions,we can construct the representative road condition and establish the kinematic equation of the four-wheel mobile robot through this road condition to examine the flexibility of the four-wheel mobile robot through complex road conditions.(6)Through the construction of the steering model,Simlink is used to simulate the steering system,and several steering control systems are compared to verify that the four-wheel mobile robot has the ability to pass smoothly through the curve at high speed and low speed.