Design Of Mechanical Structure And Control System For All-terrain Mobile Robot

With the continuous development of society,and the competition among enterprises is increasingly great,the production patterns which man complete the handling task with a number of robots restricts the development of the corporations.Furthermore,as the improvement of enterprise automation,the handling robots has got a widely use.And with the operating environment of the robot becomes more and more complicated,the demand for mobile robots which are capable of adapting to complex terrain is increasing.As mobile robot which with mobile arm has the advantages of better flexibility,strong adaptability to environment and high efficiency,it has gradually became the major research direction of logistics handling equipment.In base of the cooperation project "AGV Robot Technology Development",this paper focused on the structure and control system of all-terrain mobile robot,and the main contents are as follows:(1)Based on the needs of handling work of the production line incorporations and the working environment of mobile robots,the functional requirements of mobile robots has been analyzed and determined the qualifications of mobile robots.The overall design scheme of the robots has been formulated,which contains the design of mechanical system and control system.(2)According to the mechanical system design program,Solidworks was used to complete the three-dimensional design includes the walking,power and transmission mechanism,suspension structure and other mechanical parts.ADAMS Software was used for optimizing design of suspension structure parameters,and Solidworks's Simulation tool was used to perform finite element analysis of key components.(3)Relying on the design of the mechanical system,the kinematic model of the mobile robot is established.The kinematic simulation of the mobile chassis is carried out by ADAMS software.The kinematics simulation of the manipulator is completed by using Matlab.The dynamic model of the mobile robot is established,and the influencing factors of the obstacle crossing capability of the mobile robot are analyzed in detail.The dynamic simulation of the mobile robot is analyzed by utilizing ADAMS software.(4)Based on the holistic scheme of the mobile robot control system of the industrial tablet computer and the motion control card,the navigation module,the robot arm motion control module,the RFID function setting module,the exception handling module and the IO status monitoring module are designed,and the control system is based on VisualStudio2012 Software,to achieve the function of autonomous navigation,site identification,motion control,status monitoring and so on.(5)For the sake of carrying out all-terrain mobile robot prototype development,building a test platform for mobile robot checks situ steering error,movement speed,obstacle performance and cargo handling performance test.The experiments can figure out if the whole terrain mobile robot meets the design requirements and whether it is able to complete the handling task.