Design And Performance Research Of A New Wheeled Hopping Robot

With the extensive application in the fields of post-disaster search and rescue,interstellar exploration,archaeological detection,military reconnaissance and anti-terrorism,the requirements of adaptability and autonomous movement in complex road conditions are getting increasingly high for robots.Hopping robots can cross obstacles several times of their own size,possessing a strong barrier avoiding performance,but show more complex and less efficient in the flat road compared to the wheeled robots.The combination robots of wheeled and bouncing movements unite the characteristics of wheeled robots like simple structure,good controllability,smooth motion,high energy utilization and the merits of hopping robots like high flexibility and strong adaptability of terrain,which greatly improve efficiency of the robot in a complex environment.Aiming at the adaptation and flexibility of the robot in complex environment,in this paper,recently proposed a New Wheeled Hopping robot combined with a set of compound chain bouncing mechanism and honeycomb wheel mechanism.The research of the honeycomb wheeled mobile robot is carried out from the following aspects:(1)Mechanical system design of honeycomb wheeled mobile robotAiming at the motion performance of robots in complex environment,comparing comprehensively among multiple bouncing movement scheme and wheeled mobile robots,a honeycomb wheeled mobile robot is designed to complete a set of assignment of wheel movement,bounce movement,posture adjustment and flip reset,which is supported by compound chain bouncing mechanism and honeycomb wheel mechanism.Compound chain bouncing mechanism is an independent structure with functions of bouncing,flip and posture adjustment,which show advantage on reducing the total weight and complexity of robot.The honeycomb wheels are used to achieve a flat road movement and landing buffer of the bounce movement.(2)Performance analysis of honeycomb wheeled mobile robotIn order to study the feasibility and effectiveness of the robot design,the performance of the robot is analyzed.In this paper,we complete kinematics analysis of honeycomb wheeled mobile robot based on the spin theory,and establish the positive and inverse kinematics equation of the robot,the equations of motion of robot pose and velocity attitude adjustment,bouncing movement and tilting reduction,which lay the foundation for establishment of the dynamic model of the robot.Based on the analysis of the motion trajectory of the robot during the jump,the relationship between the height and the distance of the robot and the take-off angle and the initial speed is studied.Analyzing the two orders Lagrange dynamic equation,the dynamic analysis is carried out for the take-off stage,the flight phase and the landing stage of the robot,and the stability of the robot is analyzed by using the zero moment point ZMP.(3)Simulation and Experimental Research on Honeycomb Wheeled Mobile RobotThrough the simulation and experimental analysis of the robot,the feasibility of the robot and the correctness of the model analysis are further verified.In this part,ADAMS is used to simulate the posture,bounce and flip reset to verify the feasibility of the robot.Then,the correctness of kinematics equations and dynamical equations are analyzed by the joint simulation of ADAMS and MATLAB.Finally,through the physical experiment to further verify the feasibility of the robot.