A Study On The Wheel-legged Obstacle-crossing Robot

With the extension of human activities,the robot working environment also extended to some complex environment which was unable to fully predict.Staircase is the most common man-made obstacles,and Climbing obstacle will play an inreplaceable role in human life.Nowadays in the process of the robot's design and development always faces the conflict between its miniaturization and obstacle-crossing ability.How to improve the obstacle-crossing ability,the most simplifined structure,enhance the reliability,reasonable easy to maintain control,expand practical application field etc,comprehensive situation between various factors to make the most proper measure becomes a hot spot issue about the mechanism design of obstacle-crossing robot needed to resolve in recent years.With the study of a novel which bases the planetary wheel linking chassis structure,this thesis carries the research around the structure optimization and obstacle-crossing ability.The main works are as follows:According to the analyses of the current situation and future development of obstacle-crossing robot at home and abroad,this paper analyses the adventages and disadvantage of the current mechanism,and then fixes the research background and design target.It analyses the design of major and chassiss structure of a obstacle-crossing robot.Introduce the principle of planetary wheel lingking chassis and spring coupling of double crank mechanism,analyses the key factors which influence the stability of the robot.designed a three star wheels stair-climbing device to realize wheel rolling and the star wheels rotating smoothly conversion.establish the inner relation of leg structure and optimization it.therefore,the thesis determines planetary wheel linking chassis structure to be major structure of the wheel-legged obstacle-crossing robot.The specific discussion of robot obstacle-navigation performance.According to the specific situation of the stairs,design a set of star wheel obstacle ability high institutions.Based on the mathematical model of kinematics and dynamics,detailed analysis of the robot motion and force,by controlling the speed of the drive wheels to eventually control what we expect,and the implementation process of robot pose,Vietnam disabled the robot's movement and trajectory control,makes a detailed discussion on the stress,find out the structural parameters of robot and the theoretical relationship between barrier ability,provides the basis for robot obstacle-navigation further optimization.Through ADAMS software Vietnam robot dynamics and kinematics of visualization simulation.In the process of robot and the change of the bodywork tilt Angle,front and rear wheel is in the process of the stairs and power for the simulation and analysis.Through the simulation results confirmed in this paper,the design of the feasibility and reliability of the obstacle robot,obstacle capability optimization.After a detailed analysis of the thinking and the result of the test,find out deficiency between theoretical analysis and practical process,perfect pointed out the direction for further.