Design And Implementation Of Swinging Rod Wheel Obstacle-surmounting Robot

Wheeled mobile robots are widely used to replace humans in dangerous environment detection,search and rescue,information collection and other work,such as complex and narrow post-disaster sites,special pipelines,underground ditches,etc.For wheeled mobile robot in space is relatively narrow a neat move terrain is difficult,and in the environment of the small robot by volume,weight,structure,load and mobility,such as constraints,this paper proposes a high moving efficiency,strong ability of autonomous obstacle surmounting and good adaptability to terrain of swinging rod wheeled robot obstacle-navigation.The robot uses the left-right in-phase wheel movement mode,combines the swing rod to realize the autonomous obstacle crossing,and realizes the turn through the dynamic tail fin.The main work contents are as follows:Firstly,this paper starts from the aspect of structural design,in order to meet the requirements of walking,turning,obstacle crossing and movement in narrow space,the mechanical structure of the robot with swinging rod wheel is designed.The driving mechanism is mainly composed of two in-phase driving wheels,a "U" shaped swing rod connected to the edge of the driving wheel and a dynamic tail.Both ends of the "U" type swing rod are physically connected to the driving wheel,and the tail of the "U" type swing rod slides horizontally in the sliding groove inside the robot body.The 3D model of the robot is designed by Solid Works software.Secondly,in this paper,the robot in the movement of neat and neat terrain were studied,the kinematics model and dynamics model was established,this part of the main content is a two-dimensional plane coordinate system is deduced by using kinematics equation of the robot's position changes,through dynamic equation between the pose of the robot mechanical relations.Secondly,the movement process and stability of the robot are analyzed.This part mainly analyzes the movement principle of the robot when walking on the flat ground,the form of the dynamic tail turning over the obstacle,the movement track of the swing rod over the obstacle and the auxiliary way of the tail over the obstacle.In this paper,the static stability of the robot is discussed from the limit height of obstacle crossing and the climbing ability of the robot.Then,the overall design of the control system of the robot is analyzed in detail,and the control core of the lower computer is established with single chip microcomputer.Adopts the human-computer interaction mode from the first person perspective,the upper computer functions mainly for real-time image and other data display,the lower computer uses C language to complete the function development of the control program.The data transmission between the lower computer and the upper computer is realized based on WIFI module,and the remote control is used as the full closed-loop robot control system for motion control.Finally,the hardware and software of the robot are analyzed in detail,and the selection of main components is introduced.Finally,to test the performance of the robot,the robot can be tested by one of the biggest obstacles,ditches,climbing a hill,the experiment concluded that the biggest obstacle surmounting of robot height is 3.4 times that of the driving wheel radius,it is concluded that the ability of the tail wheel to erase to 1.4times that of the tail wheel radius can be steady climb up the slope to the slope of 35 degrees,can cross the maximum width of the ditch to action wheel radius of three times.To sum up,the experimental results show that the robot can achieve the desired function and goal,compared with the existing wheeled robot,this study proposed the swinging rod of wheeled mobile robot in unstructured narrow space,the autonomous obstacle surmounting of more efficient mobile,and terrain adaptability,the small long and narrow structure characteristics can be widely used in detect underground trench,underground cable inspection and narrow environment,such as mine.The next step of the development of the robot is as follows: how to link the swing rod with the tail fin will be further studied to design an optimized movement unit in many aspects such as turning and obstacle crossing.