Research On An All-terrain Loaded Mobile Chassis With Terrain Adaptive Capability

Wheeled mobile robots are widely used due to their simple structure,high reliability,and flexible motion performance.However,traditional wheeled robots have certain limitations in surmounting obstacles,which poses greater challenges to the obstacle surmounting ability of wheeled mobile robots.Therefore,without increasing the difficulty of control,designing a wheeled mobile robot with excellent obstacle surmounting ability has become one of the hot research topics for many scholars.This paper studies a four-wheel drive six-wheel mobile chassis,mainly studying the optimization of its structural design parameters through kinematics and dynamics analysis to make the chassis have good terrain adaptability.The content includes:1)The overall scheme design of a six wheel all terrain mobile chassis has been completed.With the concept of terrain passive adaptation as the core,a terrain adaptation structure has been designed to meet the obstacle surmounting performance requirements,and a new type of passive adaptation mechanism has been proposed that can adapt to complex terrain environments.2)The kinematics and dynamics models of the chassis structure are established.Based on the spatial posture description,the motion parameters of the wheels of the robot in various motion states are analyzed,providing a reference for the design of the control system.By studying the kinematics and dynamics models,the effects of various parameters on the obstacle surmounting performance of the chassis were analyzed,and the ideal parameters and structural proportions were determined.3)Based on the dynamics simulation of Recur Dyn,the angle changes of key structures during operation in different obstacle environments are read,and their terrain adaptability is verified through comparative analysis,confirming the rationality of their structural design.4)The hardware and software system of the chassis has been designed,the selection calculation of the drive motor has been carried out,and a control system based on the STM32 main control board has been built for it.The software system has been designed to ensure sufficient accuracy and anti-interference during the operation of the chassis.5)Build a physical prototype and test environment,and test various speed and accuracy indicators of the mobile chassis under different speed conditions.The experimental results verify the stability and effectiveness of the chassis structure.