Design And Analysis Of Mechanical System For Omnidirectional Mobile Shooting Robot

At present,the use of special robots instead of manual completion of corresponding tasks in special and high-risk scenarios has become a mainstream trend,and special robots can effectively reduce the casualties of these scenes.As an important part of special mobile robots,security,detection and anti-terrorism robots have attracted more and more experts and scholars to invest in this field.This paper proposes a design scheme of wheeled omnidirectional mobile shooting robot that can be applied to the fields of security,detection and counter-terrorism and can adapt to various terrains.The scheme and structure design of the robotic mechanical system are carried out,and kinematics and dynamics analysis are carried out at the same time.Finally,the performance is verified by simulation and prototype experiments.The results show that the designed robot meets the performance requirements.For the design and optimization of robots,this paper has carried out a series of research and analysis,including:(1)Overall scheme research: According to the design requirements,a variety of schemes were compared and analyzed,and the launching scheme of the combination of the dial and the friction wheel,the two-degree-of-freedom pan-tilt scheme and the four-wheeled chassis configuration of the trailing arm independent suspension were determined.(2)Analysis and design of mechanical system: Static analysis of multi-case conditions for the fluency of the launching mechanism of the launching mechanism,optimization of the supply structure,ensuring the maximum launch frequency of the robot(20 Hz);building a cloud based on motor response characteristics The mechanical response model of the response-transmission ratio is obtained,and the optimal transmission ratio of the pitch axis is obtained through matlab simulation.The vibration model of the suspension system of the robot is established,and the stiffness coefficient and damping coefficient of the suspension system are calculated.The load-bearing components are limited.Meta-analysis and optimization,at the same time,design and selection of the robot power system,assembly design of the robot's overall mechanism.(3)Kinematics and dynamics analysis: Using the matrix transformation method,the kinematics model of the robot chassis,the pan/tilt and the whole are derived,which lays a foundation for the motion control.Based on the D'Alembert principle,the dynamics of the obstacle crossing of the robot are analyzed.In the process,the obstacle dynamics model of the four-wheel longitudinal arm independent suspension robot is established,which provides a theoretical basis for the robot obstacle analysis.The launch process of the mobile robot model is analyzed.According to the situation of the speed fluctuation before the projectile is accelerated,based on Hertz The contact theory determines the center distance of the best friction wheel and optimizes the repeatability of the shot point,that is,launch module firing stability.(4)Simulation analysis and physical prototype experiment: verify the robot's motion performance and obstacle-obstacle performance through virtual prototype simulation;verify the robot's shooting performance,motion performance and obstacleobstacle performance through physical prototype experiments.The simulation and experimental results show that the model established by the above analysis is correct,and the various indicators of the designed robot meet the design requirements.