Research On The Obstacle-navigation And Detection Capability Of The Compound Connecting-rod Robot

With the progress of science and technology and the development of the society,the robot technology has become the leading edge in the world today which has attracted much attention.At the same time,with the various activities of human in a complex terrain becoming more and more,as well as the surge in the robot detection activities in the areas which are potentially dangerous or human can never set foot on,therefore,it is favored by all walks of life that research on the obstacle-navigation and detection capability of the compound connecting-rod robot.Therefore,there is an urgent need for the light and portable mobile robot to fulfill a variety of detection tasks which moves fast on regular terrain and surmounts obstacles steadily on complex terrain.Based on the reality and application requirements,this paper proposes a compound connecting-rod obstacle-detection robot.In this paper,the robot adopts a kind of wheel-rod drive structure,simple and reliable,wheels on the flat ground and compound connecting-rod on the complex terrain to surmount obstacles.The compound connecting-robot adopts a symmetrical mechanical structure design,whose drive moving mechanism mainly includes the action wheel and the compound obstacle connecting rod.The physical connection of multiple connecting rods in the edge part of the wheel without affecting its moving as the rods rotate along with wheels.When walking on a regular flat terrain,similar to the traditional walking way of round wheel,the robot moves more efficient and not exists singularity problems.When walking in the irregular complex terrain,it then automatically switch to the over-obstacle mode,rely on the rod-rod,rod-wheel,rod-body shift to complete the obstacle crossing,which feathers in powerful obstacle crossing capability and simple control operation.Firstly,this paper introduces the research status of this subject at home and abroad,and structure analysis about the connecting-rod robot.By analyzing the advantages anddisadvantages of traditional mobile robot's mechanical structure,then the rod structure of the connecting-rod robot is introduced in this paper.The paper is mainly about the detailed structural design and the structural frame design of the whole machine.Secondly,the wheel-rod mobile robots are classified respectively from two aspects: the number of connecting rods and the number of wheels.Thirdly,the robot described herein is mainly analyzed by the kinetics and kinematics.The reference coordinate system is established and the position and movement law of the robot are described.The kinematics models of the robot in plane coordinate system are analyzed.Then,the principle of movement and obstacle climbing ability of compound wheel-link robots are analyzed in the paper.The turning method of the same side of the robot and the whole wheel in the same direction on the regular terrain are mainly introduced,and the movement process and principle of the robot on the continuous ladder terrain analyzed in detail in this part.Then,the height of the barrier for the robot is three times the radius of the action wheels,and the relevant parameters of the links for obstacle climbing under the height of the obstacles is obtained.The number and phase difference of the connecting rods when the performance obstacle-climbing is best are also given.Static stability and grade ability of the robot are analyzed by the center of gravity projection method.The overall design of the control system is introduced firstly in the control system design part of the robot,and then,the peripheral hardware design part and the software design part are elaborated respectively.Finally,the basic performance of the composite wheel-rod robots is confirmed and verified by some experiments using a real machine,including the forward and backward,the turn in the regular terrain,and the obstacle and detection performance in the non-uniform terrain.The compound connecting-rod robot,which is proposed in this paper,is a mobile robot which owns simple and reliable structure,easy control,high walking efficiency,good adaptability of surface,and strong capability of obstacle crossing.It can not only guarantee the mobile speed of the common round wheel and walking efficiency in the regular terrain,but also ensure obstacle climbing capability in the use of composite links on the irregular surface.Small power,strong barrier ability,ultra-lightweight,environmental detection capability are the features of the robot,and it can be used to complex terrain and wild environments,especially,the detection of the environment which is high-rise buildings with continuous ladder.