Research On The Design And Moving Performance Of The Deformable Two-wheel Moving Mechanism Of The Car Body

With the frequent occurrence of urban wars,earthquake fires and other events,people are increasingly demanding the application of small special robots,requiring them to have portability,small size,light weight,high barrier performance and ability to cope various complex terrain environments.Existing small wheeled mobile robots are still the first research object because of their ability to move quickly,but it is difficult to carry out between size,weight,system complexity,speed,mobility agility and high obstacle clearance trade off.In this paper,the overall closed-chain mobile link mechanism is selected as an efficient obstacle-crossing mechanism,and a new type of two-wheel mobile robot based on deformable body is proposed and designed and studied.First,aiming at the problems existing in the 6R prototype developed by the laboratory research group,combined with the degree-of-freedom technology,the double parallelogram configuration was selected as the deformable body.Based on the multimode integration technology,the overall configuration design and functional mode design of the robot,Each function mode has its own suitable application environment.In folding mode,the robot can be convenient for operators to carry,store and transport;flat rolling mode can be applied to environments where wheels cannot move efficiently such as soft soil;in wheeled mode,part of the body of the robot acts as the rear,and its width and rear can be adjusted through body deformation Length to adapt to different terrain environments;in climbing over obstacle mode,the robot can climb vertical obstacles by deforming the body.Establish the kinematics and dynamics model for the key gait in the flat rolling mode of the deformable body two-wheel mobile robot,analyze the geometric dimensions of the robot that meet the motion and the steering torque required by the robot;plan the climbing gait and Kinematics analysis was performed on its key gait to obtain the dimensional conditions of the robot that meets the motion;kinematics and dynamics analysis was performed on the wheeled mode to obtain the influence of the deformed body of the robot on its motion and motor torque.Adams software was used to perform dynamic simulation to verify the feasibility of its different modes of motion.The final design and processing engineering prototype was tested to verify the correctness and rationality of its design.