Research On Suspension And Driving Technology Of Mobile Robot

Material transportation is an important part of industrial production,and mobile robot as a transport carrier,its transport efficiency often determines the income of enterprises,so it is very important to study the key technology of mobile robot.In this paper the key problems of mobile robot are studied in the light of the innovation of suspension structure,the dynamic characteristics of suspension and driving system,etc.supported by Wuhu Science and Technology Project "All-terrain Multi-Purpose Mobile Robot" in 2016.The main work done is as follows.(1)On the basis of the research of the prototype of the project team,the structure of the suspension and damping system is optimized by referencing the principle of the automobile helical spring suspension,and combining with the requirements of the mobile robot's complex terrain transmissivity,increasing the shock absorber device in the transverse direction,and optimizing the structure of the suspension and damping system.The dynamic performance is improved.(2)Aiming at the improved suspension,the mechanical model of the suspension is established through proper engineering simplification.The stress state of the support frame is analyzed by using Newton mechanics analysis method,and the stress of the main stress position is calculated,and its mathematical model is established.The strength of the support frame is analyzed by using CAE software,and the reliability ofthe structure is verified.(3)Based on the optimization of suspension damping structures,the conditions of rolling and non-sliding during the motion of wheels are analyzed by using the theory of tribology and the concept of nonholonomic constraints.(4)The Cartesian coordinate system,the carbody coordinate system and the wheel coordinate system are established when the wheel is in the state of pure rolling.The kinematics model and dynamic model of the drive system are established by using Newton mechanics analysis method,and the nonholonomic constraint theory is used.The friction forces in each direction of the four wheels are derived in detail.(5)In order to further verify the stability of the car body,the parameters of the motor and the moment of inertia of the wheel are identified by the least square method.Based on Newtonian mechanics theory and using Matalb software,the relationship between the wheel speed and the car body velocity is analyzed when the mobile robot is moving in a straight line.The research results obtained are as follows.(1)The suspension mechanism is successfully designed,and the vibration absorber is increased in the transverse direction,which makes the dynamic performance of the mobile robot more superior when it overcomes the obstacle.Force and strength requirements meet the target to meet the engineering application.(2)The mathematical model of the driving system is studied,the motion and pose of the wheel and the car body are calculated,the friction force on each side of the wheel is deduced,and the dynamic characteristics of the mobile robot are strengthened to meet the requirements of each terrain.(3)The motion simulation of the whole vehicle model is completed,which provides an important experimental and theoretical basis for the development of the vehicle.