Design And Dynamic Modeling Study Of The Six-wheel-legged Mobile Robot

Under the continuous progress of mobile robot technology,the development of mobile robots with good mobility,high driving stability and strong environmental adaptability is attracting more and more attention,facing unknown complex road conditions and outdoor rescue operations and other dangerous environments.In order to solve the above problems,this paper,combined with the needs of the topic,proposes a six-wheel-legged omnidirectional mobile robot through the structural design and theoretical analysis.The main contents are as follows:Firstly,the background and significance of the research are described.And the state of the art of wheel-legged mobile robots at home and abroad is introduced.Besides,the main contents of the dissertation are given.Secondly,to meet the performance requirements of the six-wheel-legged mobile robot,the robot walking mechanism is proposed.Both the theoretical calculation and motor type selection have been done for the dynamic parts of the robot.Then the SolidWorks modeling software is used to design the overall three-dimensional structure of the mobile robot.Thirdly,according to the scheme of the independent and full steering mechanism,the modeling and analysis of the steering system of the mobile robot are carried out.Based on the general steering condition and steering characteristics of robot,dynamic modeling is set up.Then the steering performance and control stability are verified by analysis.Fourthly,by analyzing the obstacle negotiation process of mobile robot,dynamic model of each wheel in the obstacle negotiation is built up,which gives the theoretical basis of the robot dynamics.Through the simulation analysis of the ADAMS,the obstacle negotiation performance of the mobile robot and the rationality of type selection of the driving motor are verified.Finally,the summary of the whole thesis and the proposals for the next step of the research work are given.