Design And Experimental Study Of A Wheelleg Obstacle Crossing Robot

At present,mobile robots still have shortcomings in miniaturization,lightweight,strong obstacle crossing,and high adaptability,making it difficult to face actual complex and unstructured terrain environments.Therefore,the research on small obstacle crossing robots with strong terrain adaptability has broad prospects.This paper combines the cutting-edge development trends and practical work needs of mobile robots to design a passive variable form wheeled obstacle crossing robot,providing a new approach to solve the problems of current mobile robots operating in complex terrain.The specific research content of the paper includes:(1)A deformable wheel structure based on a pin groove mechanism is proposed,which can automatically switch the wheel leg mode to achieve adaptive obstacle crossing by relying solely on friction and self gravity without additional driving,enhancing terrain adaptability.By using mechanical and geometric constraint methods to optimize the design parameters of the deformation wheel,reducing the triggering torque and improving the success rate of deformation,while increasing the diameter ratio,the obstacle crossing performance is improved at the structural level.(2)We have designed a symmetrical overall structure scheme with two coaxial wheels,simplifying the mechanism and control,and meeting the needs of small,lightweight,and flexible robots.The force and kinematics of the robot movement process are analyzed,and the necessary conditions and periodic motion rules of passive deformation are obtained,which provides a theoretical basis for adaptive deformation.(3)Using mechanics and stable cone models to analyze the critical tipping slope angle of the robot during different postures of movement on sloping terrain,the maximum stable climbing angle is obtained comprehensively.Establish a robot obstacle crossing dynamics model,analyze and optimize the parameters that affect obstacle crossing stability,and improve obstacle crossing stability.(4)Solid works and ADAMS software are comprehensively used to establish the simulation model of the obstacle surmounting robot,and the simulation analysis is carried out for the obstacle surmounting process of the robot to verify the correctness of the theoretical analysis of the robot structure design and optimization,kinematics analysis,stability research,etc.(5)Selecting appropriate parameters for components such as motors and controllers,and using 3D printing technology to produce mechanical component assembly prototypes,the climbing stability and obstacle crossing performance of the robot were tested through motion stability experiments and obstacle crossing experiments,further proving the feasibility and rationality of the overall design scheme.The research object of this paper is a deformed wheel legged obstacle climbing robot.On the basis of the structural parameter optimization of the deformed wheel,the obstacle climbing kinematics and dynamics analysis,and the stability research,the motion simulation of the virtual prototype and the experimental verification of the physical prototype have been completed.The experience of the whole machine design,optimization analysis,and experimental testing has been accumulated for the practical application of related obstacle climbing robots in complex environments.