| In recent years,as a representative of advanced transportation technology,all terrain robot has become a research hotspot,which plays an important role in military,deep space exploration,natural disaster rescue and field scientific research.However,most of all terrain robots have the problems of poor mobility,complex structure and low obstacle surmounting ability.The walking leg all terrain robot mobile platform has both legs and feet The characteristics of the belt type mobile robot,at the same time,it has the advantages of high mobility,high sensitivity of the leg type mobile and high obstacle surmounting performance of the crawler type mobile.The leg type mobile and the crawler type mobile can be converted at any time.The main research work is as follows:Firstly,the model of walking leg all terrain robot mobile platform is established.A design scheme of walking leg all terrain robot mobile platform is proposed.The overall structure of the robot is studied,including the crawler body and leg structure.The SolidWorks model is designed,and the static analysis of key components is carried out,which lays the foundation for the subsequent virtual prototype to establish the experiment.Secondly,the kinematic analysis of the platform is carried out.This paper analyzes the straight-line movement and steering movement of the crawler,obtains the straight-line travel speed and traction force of the crawler,the steering traction force of the crawler,and analyzes the attitude of the crawler when it crosses the obstacle,and obtains the length of the crawler crossing the gully and the size of the climbing angle;uses the method based on model control to establish the leg movement model,and advances through the research method of geometric analysis The forward and inverse motion are calculated,which provides the theoretical basis for the following experiments.Then,the dynamics and motion simulation of the platform are studied.The dynamic analysis of the robot is carried out by using the Lagrange equation,the model of the walking leg all terrain robot mobile platform is simplified,the Adams mechanical system dynamics simulation software is imported and the constraint and driving functions are added,the virtual prototype of the robot is established,and the motion characteristics of the robot when the legs move are simulated.Finally,the physical prototype of the walking leg all terrain robot mobile platform is built,and the track pattern and leg motion experiment of the prototype are carried out to verify the rationality and effectiveness from the robot structure design and motion ability. |
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