Design And Optimiztion Of Robocup Small Size Robot

Robocup is a soccer robot competition organization, which is the biggest influence participation and most extensive in the world. With the continuous development of Robotics, artificial intelligence become the main research direction increasingly in robot field. Soccer robot is typical of multi-agent artificial intelligence system, it involves artificial intelligence, intelligent control, robotics, communication, sensors and institutions. Small size Ieague is an important branch of Robocup, it's also the fastest developing and the hottest project, with the characteristics of high speed and acceleration, quick pace, rich strategy and tactics application, interest are strong. The fierce competition contains a robot performance and defense strategy dual confrontation, excellent robot performance are the foundation of high level soccer robot, a robot personnel persevering pursuit target.Optimization of the Robocup small size soccer robot design is the main research direction in this paper, to improve the performance of robot is the ultimate goal. Firstly expounds the Robocup development process, introduces the development status of soccer robot technical background and competition rules of small size league to restrict the design of the robot.This paper combines the existing omni-directional wheel theory with the characteristics of small size league soccer robot, then designs a new omni-directional wheel. After comprehensive analysis the robot motion characteristics distributions determine robot omni-directional wheel for ordinary four-wheel wing, and to establish a set of non-contact feedback half closed loop control of the robot driving system.Through the analysis of existing technology of the references, combining our robot features, design and manufacture a set of by shoot device and chip kick device component of high-performance preach to shoot system. Doing dynamics simulation and optimization design to the chip kick device with Adams software. Then this paper puts forward a new dribbling institution, the agency with hinged connection instead of traditional stationary structure, the application of plastic materials as the damper to absorption ball impulse and dribbling vibration of energy.The paper takes structure design and dynamic optimization to each part of the robot finally, performance stability and maintainability are the main optimization goals. Arranging each functional device integration into the limited room according with game rules of soccer robot. Modeling every parts of the robot and assembling them by the Proe software, then calculate barycenter position. The maximum acceleration that the robot can withstand is calculated. Finally, taking summary and outlook on problems in practical application, raising for improving and perfecting the robot function.