| In unstructured environment, mobile robot is more and more important in many fields. Mobile robot is a kind of intelligent robot. Automatic movement is a main function of mobile robot. The study and design of its machine system is essential for this function.So far, developed robot mobile mechanisms mainly consist of wheel types, leg types and track types. These mechanisms can only be used for simple radius situation. They don't have the adaptability for unstructured environment, which effects their capacity and efficiency. Therefore, unstructured environment mobile robot is a focused research project worldwide.This paper mainly develops the design of the machine system of the mobile robot based on adjustment of the body attitude. In the first of paper, the history and relational technique of mobile robot are briefly introduced. The content of my research also has been described. And then, an overall design of mobile robot system structure is proposed. According to disadvantages of existed robot mobile mechanisms, we invented an machine of unstructured environment mobile robot based on adjustment of the body attitude from the automatic position changing tracked robot mobile mechanism which possesses of own intellectual property by Donghua University.In a word, this paper is based on former research of mobile robot and integrates many correlative techniques. The dissertation has done lots of deep investigations, analyses and argumentations to existed mobile robot technologies, and has done theoretical analyses and experimental argumentations to the automatic adjustment of the body attitude mechanical system, especially the robot's core technologies.Base on the theory of the body attitude automatic adjustment which discussed in this paper, Donghua University developed a new type mobile robot mechanism. The study and design of its machine system is showed in this paper, and it lays a stable foundation for later study. |
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