Design And Research Of A Mobile Robot With Variable Wheels And Legs

Natural disasters,accident scenes after man-made accidents,and large buildings with hidden safety hazards all require a large amount of manpower and material resources for rescue and fire control.Due to the extremely unstable scene and the large coverage of fire control after the disaster,has increased the difficulty of rescue and fire control.With the rapid development of mechanical automation and artificial intelligence technology,the research of robot technology has entered a new stage.The mobile robot,which replaces the staff to enter the flammable,explosive,toxic and hazardous places for investigation and rescue,can effectively improve the rescue efficiency and reduce the incidence of secondary disasters.Therefore,mobile robots which can adapt to various complex terrain have become the focus of research direction in the field of rescue robots.According to the characteristics of the working environment,a new type of mobile robot with variable wheel legs were designed and developed.The key technologies in the process of mechanical structure and obstacle crossing were studied in depth,including:the analysis of robot deformation wheel structure,research on robot obstacle surmounting conditions,analysis of robot obstacle surmounting gait process and the stability of the obstacle,the virtual prototype test,the specific content are as follows.(1)In response to the demand for mobile robots in complex environments,and comparing the advantages and disadvantages of domestic and foreign wheel-leg variable mobile robots,the design of the deformable wheel-leg structure and the whole machine assembly scheme of the variable-leg mobile robot is carried out,and the deformable wheel structure is deeply analyzed and studied.(2)Feature extraction and mathematical models are carried out for the various target terrains that the robot needs to climb.The conditions required for the robot to cross obstacles are studied from the geometric angle and the force angle,and the limit of the robot's wheel-leg state is obtained.Key elements such as the relationship between obstacle height,critical angle,obstacle-crossing torque and robot structural parameters.(3)The kinematics model of the robot is established,and the two kinds of gait modes of the robot are compared.Considering the factors of displacement,velocity and stability,the synchronous gait is selected as the basic gait mode of the wheel-legged variable mobile robot.The motion process and motion principle of mobile robot in different terrain are analyzed,and the sufficient and necessary conditions for the robot to be in a stable state and the method to improve the stability are obtained.Finally,based on the above design and analysis,through simulation analysis and prototype test,it is proved that the robot has good stepping performance on both flat road and complex terrain.