Motion Planning And Experimental Research Of Multi-joint Track-legged Mobile Platform

Mobile robots are a hotspot in the development of robots in the future because of their flexibility and mobility.The mobile platform,as an important part for carrying robots,is the focus of the research of mobile robots.Through the development of a mobile platform with high maneuverability,it will have broad application prospects on the rescue scene and battlefield in the future.Based on the existing drawings of the multi-joint track-legged mobile platform in the laboratory,this topic carries out the design of the overall electrical system,the motion planning of the posture transformation,analysis of crossing obstacles,prototype construction and experimental research.First of all,the overall electrical architecture of the mobile platform has been designed,including the overall control architecture,drive and other main components selection,as well as the design of communication methods.Then,the multi-motor synchronous control strategy of the mobile platform is researched,and an effective control method is proposed.Secondly,this article study the transformable posture of the mobile platform and analyze its characteristics.Then the kinematics model is established,and the ZMP stability criterion is used as the constraint condition,and the fifth-order polynomial interpolation method is used to plan the joint space trajectory of the pitch joint.Then,the research on the movement of the mobile platform to overcome obstacles is carried out.The plane kinematics modeling is carried out for the four-track mobile platform,and the dynamics modeling of steering movement is carried out.Before the obstacle crossing analysis,the centroid kinematics model and the stable cone model are established as the basis of the analysis.Then first analyze the climbing performance of the mobile platform,and obtain its climbing stability margin angle and maximum slope angle.Later,for the complex obstacle of stairs,through the analysis of the kinematics and dynamics of the climbing process,a series of judgment criteria are put forward to ensure that the mobile platform successfully climbs the stairs.Finally,the prototype assembly and electrical connection are carried out,and the joints are debugged during the assembly process.After that,experiments on the posture transformation of the mobile platform,leveling motion,climbing,and stair climbing were completed to verify the theory and put forward suggestions for improvement of the mobile platform designed in the laboratory.