Research On Suspension Parameters Optimization And Torque Distribution Characteristics Of All-terrain Mobile Robot

With the growing needs of the people for a better life,the need for mobile robots that can replace humans in harsh environments is also growing.A platform that can move in complex and changeable environments,such as hard roads,soft soil roads,grass,and rocks,is called an all-terrain mobile robot.The research on terrain adaptability of all-terrain mobile robots is particularly important.The analysis of terrain adaptability mainly considers the vibration damping performance and driving performance of the suspension.At present,when analyzing the damping performance of the suspension,the suspension is mainly simplified as a mass-spring damping system,which is inconsistent with the actual model of the suspension,and cannot analyze the excitation of the lateral road surface.On this basis,there are errors in the analysis of the damping performance.In addition,the all-terrain mobile robot has torque distribution characteristics during the walking process,and the influence of the suspension on the torque distribution characteristics needs to be analyzed.Aiming at the above two problems,firstly,a suspension dynamics model based on the suspension structure considering three-dimensional road excitation is established,the characteristic parameters of the suspension are analyzed and optimized,the ADMAS-Simulink cosimulation model is established,and the mobile robot suspension under random road excitation input is analyzed.The vibration damping performance of the mechanism;then a torque balance mechanism is designed to flexibly transmit the excitation of the suspension on both sides.Based on the vibration reduction mechanical model of the suspension,the mathematical model of the torque balance mechanism is added,and the characteristic parameters of the torque balance mechanism are optimized through cosimulation analysis,and then optimize the torque distribution characteristics.The thesis mainly includes the following four parts:(1)In order to improve the damping performance of the suspension,a structurebased analysis method of the damping characteristics of the suspension is proposed,and a dynamic model of the suspension considering the three-dimensional road excitation based on the suspension structure is established to optimize the damping characteristics of the suspension.Firstly,the 1/4 suspension is selected to establish the mathematical model of the suspension mechanism of the mobile robot,and the parameters are substituted for the calculation to determine the correctness of the mathematical modeling.(2)Introduce the torque distribution characteristics of the differential steering mobile robot,analyze the reasons for the torque distribution characteristics;analyze the influence of the suspension characteristic parameters on the torque distribution characteristics;finally,through the complex road walking analysis,it is concluded that the torque distribution characteristics are determined by each The motivation of the wheel is different.(3)In order to improve the road passability of the all-terrain mobile robot,a theoretical method of optimizing the torque distribution characteristics through the torque balance mechanism is proposed.First,a mathematical model of the 1/4suspension including the moment balance mechanism is established,and from this,the dynamic model of the vehicle is established and the parameters are substituted for calculation to verify the correctness of the mathematical modeling;random road excitation is applied to the suspension to optimize the Torque balance mechanism characteristic parameters.(4)According to the theoretical analysis,the virtual prototype and physical prototype of the all-terrain mobile robot were designed,and the simulation experiment and outdoor walking test were carried out.For the optimization effect of the torque distribution characteristics,the experimental results verify that the optimization of the suspension characteristic parameters under different road surfaces has an optimized effect on the vibration reduction performance,and the torque balance mechanism optimizes the torque distribution characteristics and then optimizes the road passability.