ADAMS新型小型地面移动机器人的设计
毕业论文关键词： 小型地面移动机器人 行星 轮系 平行四边形连杆机构 越障
Abstract Abstract Abstract AbstractSmall Unmanned Ground Vehicle (SUGV ） has the advantages of wide range ofapplication coverage, high maneuverability,high adaptive capacity to environment.However, in the guaranteed SUGV has small appearance at the same time to let it still hasfantastic performance on obstacle surmounting has always been the restriction for SUGVgo to be practical. How to improve its performance for obstacle-surmounting become a hottopic in SUGV.The paper proposes a wheeled vehicle platform as the ontology of the SUGV. Thissmall ground mobile robot is a combination of active and passive way ofobstacle - surmounting . It has characteristic s of running speed, high efficiency which arecome from a traditional wheel ed SUGV, at the same time , it also ha s good environmentadaptability, can over vertical obstacle which are 2 ~ 3 times the height of its wheels . Forthis reason ,the specific research content is as follows:(1) R esearch and analyzed the practical application of SUGV at home and abroad , inview of the existing wheel ed , leg type, crawler and complex ed analyze their advantagesand disadvantages . According to the design target, establish with wheeled transport way asthe ontology, combine existing vehicle chassis, put forward a new car body framestructure , compared screen ed and comprehen d with the existed . Finally determined bycombining the planet gear train and parallel quadrilateral connecting rod drive module forthe walking mechanism.(2) T hrough a detailed analysis for the new SUGV through obstacles . In term tosimplify the calculation process ,it has give a detailed explain for the parameters of therobot and give some assumptions. According to the power should not be less thanresistance in the process of obstacle negotiation this principle, the single steps of theobstacle-surmounting process pided into multiple stages detailed force analysis,determine the barrier height and multiple constraint relations between the car bodystructure parameters, to prepare for later optimization calculation.(3) According to 3 - d model combining ADAMS virtual model of simulation which has experiment the feasibility and superiority. of obstacles - surmounting. Draw a set ofcomplete robot drawings, including assembly drawing, part drawing, etc.). Expounds theobstacle-surmounting performance based on the above requirements, the design of thecontrol system of robot need and concrete implementation scheme.The results of virtual model of simulation show that this new type of SUGV has agood performance of obstacle- s urmounting . T he combination of planetary gear train andparallel quadrilateral connecting rod chassis is fully integrated with the advantages ofwheel type and crawler chassis, will have broad application prospects.Key Key Key
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