Research on Obstacle Surmounting Performance of All-terrain Eight Wheel Drive Robot

摘要

A new type of eight-wheel drive robot with high obstacle performance is developed by using the variable structure design by using variable centroid method. The motion mechanism of robot crossing vertical step is studied through D'Alembert's principle. The control strategy of active adjustment in obstacle surmounting is revealed. The ADAMS simulation model of the robot is established, and the obstacle surmounting process of the vertical step is simulated, and the kinematic characteristic curve of the robot is obtained. Based on the motion control for the obstacle, the obstacle surmounting experiment of robot prototype is carried out. The theoretical model calculation, simulation analysis and obstacle surmounting performance of robot are verified through experiment.