Design And Implementation Of A Six Wheel-Legged Mobile Robot

Mobile robots are widely used in a series of unstructured environments to replace people for survey and rescue tasks,make sure to improve the safety of operations in unstructured environments,such as for buildings or underground tunnels with potential safety hazards after disasters,human detection and rescue may cause secondary safety accidents;The range of human activity during extraterrestrial exploration is relatively limited;In the presence of flammable,explosive,toxic environment,there is a greater danger when human detection tasks.Therefore,the research and design of mobile robots with certain obstacle crossing ability and able to adapt to complex terrain has become an important direction in the field of robotics research.Based on the premise of working in an unstructured environment,this thesis develops a six wheel-legged mobile robot,conducts in-depth research on the structural design,obstacle crossing ability and control system of the robot,and makes a prototype for practical application scenarios for verification tests.The concrete research content are as follows.(1)According to the needs of designing a mobile robot operating in an unstructured environment,the advantages and disadvantages of a single mobile robot and a composite mobile robot were analyzed and compared,and than a wheel-legged composite mobile robot is decided to design.According to the wheel-legged composite method,the wheel-legged mobile robot is classified and introduced,and the typical wheel-legged mobile robots at home and abroad are comprehensively analyzed and compared,than the research content and objectives of this thesis are proposed.(2)On the basis of functional requirements analysis,the overall structure design of the wheel-legged mobile robot is carried out,and the overall design of the six wheellegged mobile robot is completed by completing the analysis and design of the action mechanism and the comparative study of common hexapod gaits,than the threedimensional model of the robot is established through Solidworks.(3)In order to explore the robot’s movement and obstacle crossing ability,the kinematics and dynamic equations of the robot are established,and the working performance parameters such as the ultimate obstacle crossing height,obstacle crossing stability,and torque of motor are analyzed and calculated by combining physical analysis and simulation analysis.(4)Aiming at the problem of phase misalignment of the left and right side wheelleg during moving,a phase-locked semi-clutch device is designed.Through the device,the left and right side wheel-leg can naturally return to normal phase during moving,and at the same time,the left and right side wheel-leg have the advantage of all-wheel in phase during the obstacle crossing process.(5)Design and develop the control system of the robot,and complete the overall design of the software and hardware of the upper computer and the lower computer.In view of the requirements of small size and low power consumption,the hardware selection and circuit design are completed.For the software part,the communication system design,upper and lower computer software development and velocity adjuting system design were completed.(6)Finally,based on the above research and design,a prototype was made for verification test.The experimental results of different terrains show that the six wheellegged mobile robot has good terrain adaptability and passing ability in the face of different terrains,which verifies the correctness of the previous analysis results and the rationality of the structural design of the robot.