Configuration Design And Motion Performance Analysis Of A New Wheel Spoke Rolling Robot

Rolling robot is a kind of robot with the help of the body rolling in the circumferential direction.Generally,rolling motion is realized by spherical,ellipsoidal,cylindrical and wheel structures.With the development of robot technology,some rolling robots based on the principle of deformation structure have emerged,which can roll forward or roll laterally depending on the deformation between mechanisms.In this paper,based on the principle of parallel mechanism,a variable diameter wheeled rolling robot driven by the center of gravity adjusting device is designed.The structure design,kinematics analysis,dynamic modeling and motion simulation of the robot are studied to explore the kinematic performance of the wheeled rolling robot.Firstly,the power drive system of the robot is innovated based on the comprehensive performance advantages of the parallel mechanism,which is the center of gravity adjusting drive device of the 3-RRR biplane parallel mechanism.Combined with the workspace and singularity analysis of the parallel mechanism,the existence space and limit position of the driving torque of the robot are determined,and the kinematic performance of the robot is analyzed.Secondly,the stability,flexibility and rolling performance of the robot are analyzed by establishing the dynamic model and simulation analysis model of the robot nonholonomic system,and the trafficability of several motion forms of the rolling robot,such as the equal wheel diameter linear walking motion,the differential wheel diameter surrounding motion,the slope motion and the path planning motion in the presence of static obstacles,are analyzed.Finally,the motion performance of the simple robot prototype is simulated in the laboratory.The linear motion walking effect of wheeled rolling robot was tested;The results show that the effect of wheel diameter scaling and the degree of wheel diameter scaling of different wheel diameter turning motion,the running fluency,stability and coincidence degree of the robot when adjusting the running path or avoiding obstacles,and the maximum climbing angle of the robot when uphill.The robot can adjust the wheel diameter of the left and right zoom wheels and the offset position of the gravity center adjustment device according to the concave and convex condition of the road,the walking speed requirements and the change of the road slope,so as to complete the straight-line walking,avoid obstacles and turn,and finally achieve the effect of flexible walking state switching and smooth operation,with fast mobility and trafficability of all kinds of obstacle terrain.