System Design and Analysis of Outdoor Obstacle Surmounting Experiments for the Robot with Foldable Wheels

摘要

A high adaptability outdoor robot with foldable wheels was described in this paper. The robot’s structure scheme and motion form have been analyzed. The kinematics model and equation of the robot has been established. The design principle of the robot’s motion control system and the adaptive control principle of the foldable wheels have been analyzed. And then the obstacle surmounting performance has been analyzed after wheels unfolding, the results indicate that the robot can surmount the obstacle easily. When the robot overcomes the obstacle with different postures, the obstacle surmounting performance of the robot will also change. At last two experiments have been carried out. The experimental results indicated that the robot with foldable wheels has a good obstacle surmounting performance and the posture of the robot will affect the obstacle surmounting performance, which will prove the feasibility of the theoretical analysis and the system design.