| As an important branch of robots,the mobile robot would be applied in diverse complicated and severe environments such as earthquake,nuclear radiation and fire disaster.Focusing on popularization the application of mobile robot,this paper proposes a new type of transformable wheel-legged mobile robot that could be applied on both flat and rugged terrains.Corresponding research work involves structural design,motion analysis,obstacle climbing strategies,control system design,prototype development and experimental validation.Details can be concluded as follows.1.In order to meet the requirements of complicated and severe environments for mobile robot,three transformable wheel-legged mobile robots are invented.The proposed robot has the advantage of simple structure,good obstacle performance,high speed,good stability and convenient control.2.Based on the features of the proposed transformable wheel-legged mobile robot,the motion analysis of the robot under wheeled mode,wheel-legged mode and transformable mode are carried out.And then the obstacle climbing strategies are obtained.The results are foundation for the development of control strategy and the analysis of over-obstacle ability.3.There are two kind of robot motion control schemes.On this basis,the rotation angle and the radius of gyration motion of the proposed robot are discussed.And the combination table of obstacle avoidance strategy is formulated,which is the basis for the control algorithm.4.Simulations of transformation and obstacle climbing are carried out.The parts of the proposed robot is manufactured by 3D printing and the control system is accomplished.Experiments are carried out.All the results prove that the mobile robot has strong obstacle climbing capability and good maneuverability,moreover,the effectiveness of the proposed analyzing methods.The research results of this paper are of great significance to the basic theory of the analysis and design of mobile robot,which promote its application effectively. |
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