Design And Analysis Of Climbing Robot Based On Multi-group Linkage Mechanism

The current robot technology has attracted much attention,and the need of the mobile performance of the robot is getting higher and higher. The mobile robots with independent obstacle function become research hotspot. However, the current mobile obstacle robots are difficult to cross stairs with different sizes. Therefore, this paper presents a wheel-type obstacle-based robot which is able to climb a variety of stair barriers based on multiple sets of link mechanisms.On the basis of reviewing the literature, the structure and the characteristics of obstacle navigation of the small and medium sized mobile obstacle robot mobile system are analyzed. It is proposed to construct the moving suspension mechanism by using the method of reconstructing the basic motion unit of the mechanism, and considering the characteristics of the stair terrain and the advantages of the wheeled moving mechanism, a kind of wheeled obstacle robot which is able to climb stairs passively.In this paper, wheeled obstacle robot which is able to climb stairs is taken as the research object, and the end trajectory equation of four bar linkage is established by using the analytical method of mechanism analysis, and the shape of the trajectory is studied by the method of single variable design. The virtual prototype model of the robot is established. The robot's climbing process is simulated in Motion, and the geometric constraint conditions of the feasibility of the robot for the stairs are analyzed, while ride comfort and low energy consumption are treated as the target of optimization. The Adams software is used to optimize the structure of the robot to determine the optimal length of the four rod motion unit and the installation dimension of the rod group.The two-dimensional planar differential steering kinematics and three-dimensional attitude model of the obstacle navigation robot are established,which provides the basis for the robot trajectory tracking control,spatial location and reasonable path planning. The dynamic analysis of the climbing process of the obstacle robot is carried out, and the influence factors of the stair climbing obstacle are analyzed with the dynamic simulation. The motion performance of the robot is analyzed, such as the characteristics of the convex profile, the static stability of the slope and the trench crossing ability, which synthetically evaluates obstacle surmounting abilities of the robot.The prototype of wheeled obstacle robot which is able to climb stairs passively is assembled and tested in the complex terrain. The results show that the obstacle robot has a good performance. The robot studied in this paper can provide a technical basis for solving practical engineering problems, which has research and practical value.