Research And Development Of Multi-function Mobile Robot On Aircraft Carrier

As the most advanced system in naval weapons and equipment,the logistics support work of the aircraft carrier is also extremely challenging.In order to improve the combat capability of the aircraft carrier,a large number of sustaining vehicles are required to support the carrier based aircraft.Due to the limited space on the aircraft carrier and the complicated environment,the aircraft carrier cannot set up a flexible logistics transportation system like on the ground,which is used to transport the ammunition and the movement of the carrier based aircraft,and these tasks ofent require manual loading and unloading.Handling,sometimes doing these jobs on the sea is very risky.At the same time,a large number of sustaining vehicles occupy a lot of space on the ship,which will occupy more effective space of the aircraft carrier and seriously affect the comprehensive operational capability of the aircraft carrier.In order to further improve the comprehensive combat capability of the aircraft carrier,if a multi-functional mobile robot can be designed to improve the effective space resource utilization of the aircraft carrier,and the auxiliary management system can effectively manage sustaining vehicles,the aircraft carrier’s comprehensive combat capability will be greatly improved.This paper is to study a suitable mobile robot for the logistic service of the aircraft carrier environment.The main work includes:(1)Calculating the dynamic performance requirements of the robot according to the technical requirements and actual application environment proposed by the project party.Aiming at the advantages and disadvantages of the current Mecanum wheel commonly used in mobile robots,and comparing with the traditional ordinary wheels,combined with the application environment,the ordinary wheel is used as the walking mechanism of the mobile robot.In this paper,the independent driving steering scheme adopts two diagonal driving wheels with one driving wheel and two universal wheels on the other diagonal line,and the structural design of the scheme is made.Through the mathematical model of kinematics,the steering angle and walking speed of the two wheels can be used to realize the control of the robot.(2)Underactuated steering structure is a new all-round moving steering scheme,which can be achieved by the speed difference between the wheels.In this paper,the structural design and dynamics and kinematics analysis of the scheme are carried out.The movement of the robot can be realized by giving the robot moving speed and steering angle.(3)In this paper,the control system design for the underactuated steering scheme is selected.The STM32F407 is selected as the control chip,and the A5048 angular position sensor gives the control system real-time feedback of the steering angle of the robot.The time slice polling method is selected as the control program framework,which is simple and clear,and has strong extensibility.The control strategy is controlled by the remote control and controlled according to the established path.(4)Using the SolidWorks motion simulation plug-in to simulate the under-actuated steering scheme,and select several characteristic curves to analyze.At the same time,the physical prototype was made and the actual operation was carried out.Some structural errors were found during the actual operation and corrected.The feasibility of the scheme structure and the correctness of the control strategy are verified.The control system is also stable and the response is fast.The underactuated steering omnidirectional mobile robot physical prototype can pass through some harsh environments,indicating the robot has a strong environmental adaptability and can be further tested on the aircraft carrier deck.