Design And Research Of The Robot Of Step Climbing Based On Deformation Wheel Mechanism

Nowadays,the robot industry as the representative in leading intelligent manufacturing has received worldwide attention under the wave of the new global industrial revolution.Service-oriented robots are an important breakthrough in the development of China's robotics industry and have gradually become a new trend in the development of China's robotics industry.This topic combines the development status of climbing robots in China and proposes a simple structure.The smooth climbing of the robots on the steps provides an effective solution to the problem of climbing over the instability of the step device.In this paper,we mainly study some problems in the mechanical structure of step climbing robots and the climbing step movements.The details are as follows:First of all,theoretical analysis is used to study and design a mechanical overall plan for climbing a stepped robot in accordance with the working environment and design requirements of the climbing robot,including the robot body structure,the robot suspension structure,and the robot walking mechanism and so on.Secondly,kinematics analysis is performed on the step climbing robot.By establishing the kinematics model of different movement states of the robot,it is verified that the step climbing robot can achieve the stability and feasibility of arbitrary curve movement.The topography of the environment is simplified which the robot is located,and the passivity conditions that the robot needs to meet when crossing obstacles are studied.The critical stability angle of the robot is calculated to provide a theoretical basis for the feasibility of the robot.Thirdly,the virtual prototype technology is introduced.The robot is modeled in 3D through SolidWorks software.Then the 3D model is dumped into the ADAMS dynamics simulation software to simulate the robot climbing step motion,and the change law of the body inclination angle,the center of mass movement of the robot,the speed and acceleration change law when the robot crawls over the stairs are obtained.The feasibility of the robot is verified through analysis.Use ANSYS software to analyze the overall deformation of the deformed wheel.Through analysis,it is proved that the deformation of the deformed wheel is small and does not affect the normal running of the deformed wheel.Finally,to make the physical prototype of step climbing machine and to use the deformation performance of multi robot,the performance of flat pavement,and the performance of climbing step to conduct the test.The result proves that the step climbing robot based on the deformed wheel structure has the ability to stably climb over the step and the road,providing the basis for the optimal design of the step climb machine.