Development Of Variable Diameter Wheel Driven Mobile Robot

Wheeled mobile robot is favored by researchers because of its simple structure,convenient control,excellent motion stability and fast motion speed.However,the low adaptability of the wheeled mobile robot's motion mechanism to the complex terrain limits its application scenarios.In this paper,a mobile robot driven by a variable diameter wheel is developed.The wheel of the robot allows users to change its diameter according to their own needs.While retaining the advantages of the wheeled mobile robot,it has a stronger ability to cross complex terrain and can adapt to more terrain environments.Through the collection of wheeled mobile robot and variable diameter wheel data,the use requirements of small wheeled mobile robot are sorted out.A new variable diameter wheel design scheme is proposed.The variable diameter wheel structure can be selected quickly and efficiently by combing the variable diameter wheel diameter principle and size relationship,and building a parametric design platform for it.In order to realize variable diameter wheel the characteristics of small size,light mass,large load,in this paper,the variable diameter of the wheel bearing performance is analyzed with mechanics.An optimization scheme is proposed to greatly improve the mechanical capacity without changing the external dimension.The performance of the optimized scheme is compared with that of the original scheme.It is determined that the optimized wheel with variable diameter can better meet the use requirementsThe structure and control system of the variable diameter wheel drive mobile robot are designed.The hardware such as the motor,driver and information transmission module of the mobile robot is selected,and the differential control of the mobile robot through the cooperation of the upper and lower computers is realized.The motion analysis and mechanics analysis of the mobile robot and the three movement modes of the mobile robot(flat movement,climbing movement and obstacle jumping movement)are carried out.The locomotion ability of variable diameter wheel driven mobile robots with different wheel diameters in different moving environments is explored.The variable diameter wheel driven mobile robot is processed into a solid prototype.The corresponding experimental platforms for the movement of flat ground,slope and obstacle crossing are built.The mobile robot is made to move accordingly and the data is collected.The collected data is compared with the theoretical analysis data,and the superiority of the performance of the variable diameter driven mobile robot is proved from both theoretical and practical aspects.