Designing And Analyzing For An Wheel-Ski-Style Obstacle-Surmounting Robot

With more and more human activities in a non-structured terrain, coupled with the fire protection, explosives disposal, adventure and rescue equipment, nuclear industry and many other fields demand in obstacle-surmounting mobile robot urgently, therefore, we urgently need the robot can freely come and go in a non-structured terrain. It can also accomplish a specific task. Driven in such an environment and its applications, combined with the non-structured characteristics of the terrain and the other worker’s research, the author proposed a wheel-ski-style obstacle-surmounting robot. The robot uses wheel as a walking institution, using obstacle-surmounting ski to surmount the obstacle. It adopts symmetrical design, having the following advantages:the movement speed in structured terrain is equal to the movement speed of the wheels, and has a strong non-structured terrain climbing obstacle capability, automatic switching mode without human intervention.The kinematics is analyzed in the article as the beginning of paper, the kinematics’analysis we described the position and orientation of the robot in coordinate system; In the coordinate system we established the forward kinematics and inverse kinematics model of the robot; Revealed the relationship between the speed of the wheels and speed of the robot’s gravity. Then analyzed the force on a single wheel; Obtained the dynamic model of the drive wheel; Then established the dynamic model of the whole robot. Followed introduced the wheel-ski-style obstacle-surmounting mobile robot in structured terrain and non-structured terrain movement principle and analyzed its obstacle-surmounting performance in non-structured terrain; Analyzed the climbing ability of the robot and introduced the other two obstacle-surmounting ways. The control system section briefly described the control system and sequentially made the detailed description of the hardware portion and software portion; the hardware section showed the use of the main device; the software gave the flowchart of the realization. The experimental part verified and analyzed the performance of the robot straight forward and back, turning movement; Then the robot’s obstacle-surmounting capability is been analyzed. Obstacle-surmounting capability and other performances influenced by the size and the main factors of the robot are also given in this part.Through the research and analysis on this paper, wheel-ski-style obstacle-surmounting institution can both walk in the regular topography and the non-structured terrain; It has the advantage of none human manipulation in its obstacle-surmounting process. It has high mobility and can surmount3times radius of vertical obstacle height.