The Research Of A Smart Mobile Platform Based On Spatial Four-bar Mechanism

Mobile robot has attained abroad application in variety of fields related to unstructured environment including forest wandering, emergency rescue, and military utility, planetary exploration etc. The autonomous mobile robot should have strong ability to adjust the unstructured environment. The present researches are most dedicated to the smart of the mechanism of the chassis and the swift feedback of the control system to improve the ability of adjusting the ground environment. The thesis made a comprehensive study on mobile robot mechanism based on the spatial four-bar mechanism.This thesis based on the broad research of unmanned ground combat vehicle and the planetary rover, and dedicated to work out a new mechanism used in mobile platform, which breakthrough traditional design theory. And then put forward a new mobile platform which based on spatial Four-bar Mechanism.Use the Spatial Four-bar mechanism with two DOF as the chassis of the mobile platform. By utilizing rotary transform tensor formulation, obtained the relationship between output and input kinematics parameters. By using some available vehicle morphologic theory, this thesis completes the structure design of our mobile platform, especially the roller and the wheels design. And then completes the research in gait planning and done some analysis on obstacle capability of our mobile platform. This is importance to based further controlling system. Finally, using virtual prototype technology, basted the prototype of the platform under ADAMS, and validated the obstacle capability. It's proved to be a smart mobile platform under unstructured environment.