| In May 19,2015,the State Council issued the " Made in China 2025" plan.In the plan,the robot became one of the key areas,and the robot industry will get the golden period of development.All-terrain mobile robot has been widely applied in various industries because of its fast running and responsive characteristics.Under the support of the research on intelligent predictive control of wheeled mobile robots based on model learning under the National Natural Science Foundation Project "model learning based wheeled mobile robot",the aim of this paper is to study an all-terrain wheeled mobile robot platform with good performance and smooth running.According to the requirements of the fund project,the system of the all-terrain wheeled mobile robot was designed in this paper.Selection of robot motor,wheel,suspension mode and so on.The ADAMS software was used to optimize the structure parameters of the robot,and the 3D modeling of the robot was built based on the SolidWorks software,and the finite element analysis of the main parts was carried out by using the ANSYS WorkbenchAccording to the overall design,the six-wheel mobile robot’s steering kinematics and dynamic models,and the robot’s front,middle and rear wheel’s obstacle crossing dynamics model were build.Through the ADAMS software,the six-wheel mobile robot steering was simulated to verify the correctness of the model,and the influence of the running speed on the output torque of the motor was analyzed by MATLAB.Through theoretical analysis and simulation analysis,the robot performance was analyzed from three aspects: mobility,stability and mobility.Reference car through performance analysis,the robot through performance including the contour passing performance,suspended through performance,the soft terrain through performance,the rough terrain through performance and cross barrier through performance;stability is divided into static stability and dynamic stability.The performance parameters of the designed all-terrain mobile robot were obtained.Finally,complete the construction of mechanical system and control system.Program was programmed based on TwinCAT2 to control robot movement.Based on the experimental scheme,the walking ability of the prototype on different ground and different slopes,obstacle ability,turning ability and carrying capacity were tested by experiment,and the experimental data verify that the prototype has good performance to meet the design requirements. |
