| Currently,the equipment used for special operations such as logistics transportation lacks the flexible control mobile device.Moreover,there are considerable difficulties in the transportation and precise positioning and installation of heavy-duty items in the small working environment and the varied terrain,which cannot meet the needs of modern logistics in China.Mobile robot technology is widely applied in social services,disaster relief,aerospace exploration,combat reconnaissance,and other fields,if applied to the special operation,it will improve the efficiency of transportation,save a lot of manpower and financial resources.And under unstructured environment,the robot needs to have strong adaptability,flexible control,and high ability of surmounting obstacles,etc.,in order to achieve this kind of demandment,this research designed a travel mechanism robot capable of carrying out logistics transportation and other special operations in an unstructured environment.The aim of this research is to design a reconfigurable mobile robot.The design of travel mechanism for mobile robot is the focus and difficulty of robot research.The travel mechanism for robot combined the characteristics of the fixed crawler and the legged mobile robots,The track is not deformed during the driving and maintains a fixed posture,while the unstructured terrain is driven by a swing arm to help the robot cross the barrier.It is suitable for special operation in various small and medium-sized logistics environment,and has the characteristics of simple structure,compact structure,convenient control,and good obstacle performance.Firstly,analyzed the research status of mobile robots at home and abroad,and summarized the types of mobile robots and the configuration characteristics of travel mechanism systematic.By researching the typical structure of robots such as tracked,wheeled,legged and compounded,analysing the characteristics of all kinds of robots,combined with the advantages and disadvantages of all kinds of mobile robots,designed a new kind of travel mechanism for reconfigurable tracked mobile robot.Then,determined the machine technical performance indicators and the overall design scheme of robot,the mobile robot is divided into mobile mechanism module,actuator module,power system system module,using the modular design concept,the swing arm tensioning mechanism belongs to the mobile mechanism module,the actuator module is placed on the mobile mechanism module,and the power system module is placed inside the vehicle body.The detailed structure design and theoretical calculation of each module of the robot are carried out,and the transmission system is designed and selected.The kinematics analysis of the performance under typical geomorphological structure is carried out,and the theoretical obstacle limit data is calculated.The prototype model of the movable robot was established using the modeling software of Solidworks.Finally,the kinematics simulation of the moving characteristic of travel mechanism robot in the places with different obstacles is analyzed by using the ADAMS software. |
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