Research On Micro Deformable Wheeled Robot

Due to its features of light weight,miniaturization,easy control,and high flexibility,micro-detection robots are now widely used in various types of detection activities.The traditional design methods of micro-robots have many problems,such as difficult processing,difficult assembly,and difficult integration.In this paper,the above problems are studied and analyzed,and a deformable wheeled detection robot is designed and manufactured.The following work is carried out around the research and development of microrobot design technology:The mechanism based on flexible hinge is analyzed,and the method of micro-robot from planar structure to spatial three-dimensional structure is analyzed.The kinematics and dynamics of the four-bar compliant mechanism in the three-dimensional deformation of the micro-robot are discussed and the general process flow of the micro-robot monolithic integrated rigid-flexible hybrid deformation is illustrated.Combined with the rigid-flexible structure design of the robot,the design of the flexible hinge structure of the double flexible layer was studied.The prototype of the micro-deformable wheeled robot with the structure size of 25 cm 20cm and the overall weight of about 500 g was developed,and the components and circuits of the micro-robot were carried out.In the design,the robot adopts the driving mode of the two-wheel DC motor,and uses the deformable function of the main structure to switch between two different working modes.The components of the robot prototype were processed and assembled,and the prototype was subjected to dimensional and weight measurement and performance testing.This thesis provides a new design idea for the research of wheeled robot combined with other deformable structures to improve the motion performance.The single-piece integrated rigid-flexible and deformable design and its processing technology have reference value for future research.