Research On Motion Planning Of Reconfigurable Robot Mobile Polatform

The concept of the robot can be traced back to the 1920s,up to now,we have made an important breakthrough in the development of the robot.There are so many intelligent robots,such as industrial manipulator,earthquake rescue robot,scout insect robot and cargo AGV robot,have entered the industrial production,military exploration and other fields.The reconfigurable robots as a kind of robot,play a great role in the situation of star detection,dangerous environment operation,etc.Based on these reasons,the motion planning of the reconfigurable robot mobile platform was studied as follows:1.The structure of the robot mobile platformAs the chassis of the robot,the robot mobile platform plays the function of carrying and driving the movement of the robot.By imitating the structure of the six-legged insect,the mobile platform adopts symmetrical structure that allows the chassis can be retractable to facilitate the narrow space.The six legs are symmetrically mounted on both sides of the platform,and the leg structure can be converted from wheels to feet in order to adapt to different environments.The 3D model of the mobile platform was established by software,and the prototype of the experiment was made.The joint of the prototype is driven by the micro-motors,and the control chip is the SCM system.2.The gait planning of the robot mobile platformThe kinematics equations of the mobile platform were established,and its forward and inverse solutions were carried out.The gait planning of the platform was studied,and decided to adopt triangle gait for crawling,four gait for rolling.Then the stability of the gait was analyzed on the basis of static stability criteria.The simulation and experiment on the gait planning of the mobile platform were simulated and tested to verify the rationality of the gait planning.3.The path planning of robot mobile platformA path planning method based on viewable method with A*algorithm was adopted for mobile platform.Considering the complex and random road environment,the camera was used to collect the road environment,and Halcon image recognition software was used to identify the road grayscale,the path coordinates were derived,then Aa*algorithm was used to plan the shortest path avoiding obstacle for the platform from the place of departure to destination.On the basis of the integrated development environment of VC ++ 6.0,The optimal path from the place of departure to the destination was developed,then the path planning method was simulated and analyzed.The experiment results showed that the path planning method based on visual graph method with A*algorithm could find a path with the least energy consumption for the robot mobile platform.Above all,the robot mobile platform studied in this thesis can be retractable and the leg can be transformed into wheelscan be reconfigured to adapt to different ground conditions,and its gait planning and path planning methods have some application value.