Analysis Of Stability And Obstacle Crossing Of Six Wheel Omnidirectional Mobile Robot

Mobile robots have a wide range of applications,such as planet detection,mineral exploration,anti-terrorism and anti-explosion.The wheel-legged walking mechanism has attracted more and more attention because of its comprehensive advantages such as strong ability to cross obstacle and fast running speed.In order to adapt to the bad road conditions after earthquake and other natural disasters,this paper chooses the underactuated mobile robot as research object using a wheel-legged walking mechanism,from three aspects of improving the ability of obstacle crossing,walking safety and theoretical obstacle crossing,to carry out the optimal structural parameters,static analysis,geometric qualified calculation and dynamic simulation of ADAMS of the robot.The structural parameters of robots have great influence on their mobility.By optimizing the parameters of robot walking mechanism,the comprehensive mobility of robot can be significantly improved.By analyzing the geometric characteristics and motion trajectories of climbing mechanisms,the geometric constraint equations are established respectively,and the optimal design parameters of each mechanism are obtained by simulation of MATLAB,which improves the efficiency of robot obstacle crossing.In view of the instability of the climbing mechanism,the static analysis of the robot is carried out.By analyzing the possible overturning phenomenon in the downhill of the robot under different motion conditions,the balance force and balance torque equations are established respectively,and the relationship between the robot's motion state and the balance force is gotten.Based on the structural parameters of the robot,the ability of theoretical obstacle crossing is calculated.From the perspective of ensuring the robot's stable traffic,it is necessary to ensure that the six driving wheels of the robot are in contact with the ground at the same time.By constructing the geometric constraint equations between the robot body and obstacle,the geometric passing ability of the robot is obtained.Dynamic simulation experiment is based on ADAMS.The virtual prototype of the robot is set up by ADAMS,and the obstacle crossing ability of the robot is analyzed by setting different driving speed,friction coefficient and obstacle parameters.Through the simulation experiment,the influence of friction force and other factors on the stability and obstacle crossing ability of the robot is verified.