Micro Robot Rolling Climbing-stair Technology

This paper focuses on the design of micro robots and research of the rollingclimbing-stair technology, which has great significance for the development ofman-portable reconnaissance robots in the indoor and urban environment.In the indoor and urban environment, the robot ground through ability is mainlyreflected in the obstacle climbing ability on climbing stairs and steps, etc. Existing indoorreconnaissance robots mainly use crawler structures for the convenience of up and downstairs, which has been achieved good effects in the robot motion stability, action reliabilityand continuity. However, there is minimum request on the crawler belt and the length ofrobot body, so as that the crawler robot has big volume, heavy quality and not enoughconvenience for individual soldier to carry.Based on the indoor and urban combat environment particularity, in this paper, rollingclimbing-stair scheme is designed to solve the conflict between the robot size, weight andperformance of climbing stairs, which makes the robot small, light and easy man-portable,and reliable to pass through stairs and other obstacles at the same time. Furthermore, itanalyzed the operating principles, focused on physical structure and then designed therolling climbing-stair robot.Kinematics and dynamics model reflects the movement rules of the robot in differentenvironments and external force, which are the quantitative representation of robot internaland external and the basis of robot motion control. This paper established a kinematics anddynamics model in rolling climbing-stair process and a foundation for the realization ofmotion control. In addition, it also analyzed the stability, based on the dynamic model ofthe rolling climbing-stair robot; and analyzed robot dynamics parameters, providing basisto improve the stability and control precision. Virtual prototype simulated, analyzed andverified the feasibility of robot design.Finally, it developed the experimental prototype of micro rolling climbing-stair robot,tested and verified the climbing stairs functions and ground conformability on ruins, slopesand other places.