Multi-Link Independent Suspension System Used On Omni-Directional Motion Robot With Constant Wheel Tracks

In the processing of ballistic target tracking,as the target not only has free movement,its maneuverability should be taken into account.Existed robot are difficult to move on uneven road or sometimes no road ground.In this paper,an omnidirectional mobile robot with constant wheel tracks is proposed to enhance the mobility of the robot on unstructured roads.The detailed design of the chassis and the mechanical structure of the suspension is carried out,the kinematics and dynamics analysis is conducted,the virtual prototype simulation experiment is established,the physical prototype is made,and the indoor and outdoor operation tests are carried out.The results show that the independent suspension designed in this paper eliminate the roll phenomenon of the center plane of the wheel,reduce the control complexity,and meet the requirements.Detailing as following:(1)Setup of wheeled mobile robots and structural design: Referring to the structure type of the unmanned vehicle,the ability of different type of robot is compared to achieve omnidirectional movement,and the complexity of control method is evaluated,by doing so,4Mecanum wheeled omnidirectional mobile robot is used for this research,and the overall size of the robot is determined.(2)Design and optimization of multi-link independent suspension with constant wheel tracks: The shortcomings of the existing robot suspension device are analyzed and summarized,that is,the roll of the wheel during the obstacle-crossing process leads to the change of the wheel track and increases the complexity of the control design.An independent suspension that can maintain a constant wheelbase is proposed,which includes a parallelogram structure,a crank-slider mechanism and a swing-rocker mechanism.The three kinds of structures are optimally combined into a multi-link independent suspension,kinematic analysis and dynamic analysis are carried out,and the vibration system model is established,and the parameters were optimized according to the simulation results.(3)Kinematics and dynamics analysis of wheeled mobile robot: The matrix equations of robot kinematics are derived.The robot’s driving process is analyzed based on the Lagrangian dynamics method,and the robot dynamics model is established accordingly.Three-dimensional drawing is made,and the ADAMS kinematics and dynamics simulation analysis was carried out,by which the feasibility of the theoretical design of the robot is verified.The physical prototype of the four-Mecanum wheeled omnidirectional mobile robot is completed.The robot control system is established,and experiments in different indoor and outdoor conditions is conducted.Through the above research,the maneuverability,accuracy of motion control and wheel landing ability of the omnidirectional mobile robot with constant wheel track are theoretically and experimentally verified,and the designed robot meets various application requirements.