Development and experimental study of multi-motion model robot with wheel-track compound structure

摘要

In order to make the robot adapt to various complex working conditions and weather conditions, and expand its application scope and scenarios, a new type of wheel-track compound structure robot is proposed, which has multi-motion mode and can realize the free switching between wheeled movement and wheel-track movement. Sprocket chain is used to drive the rotary movement of both sides of wheels of the robot, and the combination of dynamic and static seals is adopted to achieve the protection level of the robot IP65. In this article.the robot's movement patterns are analyzed, the mechanical analysis of the most representative function of climbing stairs under the wheel-track movement mode is carried out, the traction and supporting force of the robot in each stage of climbing stairs is obtained, the theoretical basis for the stability discrimination of robot is provided when the robot is in contact with stairs, and the design of robot structure and control system driving device is optimized. The results show that the robot can climb stairs, surmount obstacles, climb slopes and walk upright, which proves the rationality of the structure design and the stability of the robot under various complex working conditions.