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Research On Mechanism Design And Motion Analysis Of Six-wheel Rocker Arm Robot

Posted on:2021-07-13Degree:MasterType:Thesis
Country:ChinaCandidate:Y B WuFull Text:PDF
GTID:2518306350477024Subject:Mechanical engineering
Abstract/Summary:PDF Full Text Request
With the rapid development of mobile robot technology,all terrain mobile robot has been widely concerned because of its flexibility and adaptability to complex environment.For unstructured environment and structured environment,the same mobile mechanism is difficult to adapt efficiently at the same time.Although the typical crawler,walking and wheel legged mobile robots can adapt,the ground movement of crawler and walking robots is not flexible and the structure is complex,and the efficiency of wheel legged robots is low.Considering the complex terrain such as concave convex Road,deep ditch and slope in the unstructured environment,and the obstacles such as steps and stairs in the structured environment,this paper aims to study a new six-wheel rocker mobile robot which can passively adapt to the terrain,move flexibly and have relatively simple structure.The main contents of this paper are as follows:(1)According to the requirements of typical obstacle crossing and stair climbing in unstructured environment and structured environment,the mechanical structure is designed,a six-wheel rocker moving mechanism is proposed,a three-dimensional model is established,the wheel track is optimized,the tire,wheel track and tension spring are selected,the appropriate electric machine and material are calculated and selected,and the strength of key parts is checked through finite element analysis.(2)Based on the kinematic model of the same direction differential steering and reverse differential steering of the six-wheel rocker arm mobile mechanism,the dynamic model of the same direction differential steering and the dynamic model of the reverse differential steering are established,and the steering simulation model of the six-wheel rocker arm mobile mechanism is established with ADAMS software,and the simulation of the robot's front,middle and rear wheels crossing obstacles and climbing stairs is carried out.(3)Based on the kinematic model of the same direction differential steering and reverse differential steering of the six-wheel rocker arm mobile mechanism,the dynamic model of the same direction differential steering and the dynamic model of the reverse differential steering are established,and the steering simulation model of the six-wheel rocker arm mobile mechanism is established with ADAMS software,and the simulation of the robot's front,middle and rear wheels' obstacle crossing and ladder climbing are carried out.(4)The climbing angle,bearing capacity,obstacle surmounting capacity,differential steering and stair climbing capacity of the six-wheel rocker arm mechanism were tested,and the test results were analyzed.
Keywords/Search Tags:Robot, Six-wheels, Obstacle crossing, Rocker
PDF Full Text Request
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