Study On The Mechanical System And The Key Technology Of The Stair Climbing Robot Which Can Omnibearing Walk

This robot is a kind of three degrees of freedom stair climbing device. Through the cooperation of the three mechanism units,which determine it’s DOF, the robot can adjust it’s posture, adapt to a variety of conditions that the robot will face with. This robot can solve some special issues, such as how to climb the building stairs, how to climb across the obstacles, how to climb the handrail of eddied ladder, when the robot wants to turn a corner, and how to make the turning radius zero etc.Nowadays, we find that there are many kinds of walking robots, and they all need to walk or move around. So the walking mechanism is an important part for walking robots. By searching and reading a lot of materials and some information. We draw a conclusion that all the walking mechanisms can be classified as follows, such as wheel types, leg types and wheel and leg types, track types, planet wheel types, all kinds of Twisted wheel types etc.. With the help of these kinds of walking mechanism, they can climb the obstacle, stairs and other kinds of walking environment. We find some disadvantages among them. Such as, they can’t walk well while they walk in the complex environment, they don’t have good maneuverability as they face with corners, different choices that they need to choose, they may be affected when they walk with heavy load, they can’t adjust themselves well, they don’ t have the adaptability for unstructured environment and also they can’t solve other issues and other conditions. At the same time, there also exists a difficult problem that they need a path planning. As we all know that if something want to walk well, it needs a good path planning strategy. And we know that there is no more efficacious and convenient path planning strategy. Hence this is also an important issue for we to study on.This paper mainly introduces a method and a special device that can solve the issues that we faced now. And till now, the robot has already been done, it stays in DHU.During the manufacturing of the robot, we have really faced with lots of issues, we over come them in the final successfully. Such as we propose a design idea for climbing stairs and climbing obstacles, we use all kinds of products as it’s part to assemble it, we choose the best method to manufacture it, when it is made, we make a plan to test it to guarantee it’s functions are all well, and we also make a plan for it’s tasks in the future, prepare sufficient data for the following researchers.Based on the theory of the stair climbing robot which can omnibearing walk which discussed in this paper, Donghua University developed a new type mobile robot mechanism. And we think it is not only a stair climbing robot, but also a kind of basic robot. It provides a good foundation. By using this foundation we can make a patrol robot, a fire fighting robot and some other robots. And also it provides a good path planning strategy for the moving devices to make a good path plan.And it can climb the handrail of eddied ladder, and solve the issues we have met before. I’m looking forward to it can provide power in the future.