Design And Implementation Of A Special-shaped Wheeled Obstacle-crossing Robot

In the wake of evolution of industrial technology and computing,the application range of mobile robots is growing fast.For robots that replace humans in reconnaissance,search,and transportation work in hazardous environments such as forests,human accidents,and natural disasters in the wilderness,it is crucial to have stable obstacle crossing and mobility capabilities.In this thesis,a new type of special-shaped wheel-type obstacle surmounting robot is developed to overcome the problems of sliding,rollover,and posture change during obstacle surmounting,as well as the shortcomings of the body bumping and the action wheel phase disorder after turning when moving on a flat road.This robot combines the advantages of the profiled wheel and the center wheel,not only has the stability of the traditional mobile robot,but also can display excellent obstacle surmounting ability when facing the unstructured environment such as stairs and ruins,and adjust the posture during the obstacle surmounting process to keep the moving direction always facing the obstacles.The main work contents are as follows:Firstly,investigate and study the current research status of wheeled obstacle crossing robots,summarize the advantages and disadvantages of the mechanical structure of wheeled obstacle crossing robots,and propose an overall design plan for special-shaped wheeled obstacle crossing robots with the design requirements of low power,reduced body turbulence,stable body during obstacle crossing,and the ability to correct its own posture.It is decided to use coaxial and in-phase special-shaped wheels to ensure the stability and efficiency of obstacle surmounting and use the center wheel to ensure the stability and steering flexibility of the robot in the process of moving on the flat road.Using Solid Works to build the th-ree-dimensional model of the special-shaped wheel-type obstacle surmounting robot and carry out a brief gait planning for the robot.Secondly,the kinematics and kinetic models of the mobile robot and the selected special-shaped wheels are built to analyze the motion law of the robot.For the robot’s motion process: basic motion and obstacle surmounting motion,the motion mechanism is analyzed,and its motion ability is analyzed according to the design parameters,laying the foundation for the subsequent hardware selection.Using Solid Works Motion simulation software,the robot’s basic motion and obstacle-crossing motion are simulated and analyzed.The virtual simulation results show that the robot moves smoothly in a flat road,and the fuselage is stable when it moves across obstacles in an irregular environment,with small ups and downs,and the robot’s moving direction can be automatically adjusted to always face the obstacles during the obstacle-crossing process,which verifies the rationality and feasibility of the robot’s mechanical structure.Thirdly,conduct requirement analysis and software and hardware design for the control system of mobile robots.In terms of hardware,the core hard-ware such as the central controller,the reduction motor,the communication module,and the sensor are introduced in detail.In terms of software,it is divided into remote control upper computer terminal and robot motion mode setting lower computer term-inal to design,introduce the information transmission method used,and analyze and test the speed control algorithm used by the lower computer.Finally,the physical prototype of the robot is built to test the mobile ability of the robot on the flat road and the obstacle surmounting ability in the unstructured environment to further verify the rationality and feasibility of the special-shaped wheeled obstacle surmounting robot.Compared with some existing special-wheel obstacle surmounting robots,the results show that the special-wheel obstacle surmounting robot designed and implemented in this thesis has the advantages of simple structure,simple control,high moving efficiency,and more stable obstacle surmounting process.