Robot traveling mechanism multi-rigid-body movement simulation design method

Abstract

The invention discloses a robot traveling mechanism multi-rigid-body movement simulation design method. The method includes following steps: step 1, studying and analyzing strategy and step under ADAMS / VIEW; step 2, calculating movement time of a mechanism behind a guiding-in robot traveling mechanism virtual prototype model; step 3, completing analysis on movement simulation of a traveling mechanism in the presence of ditches and daises to acquire data of center of mass of the mechanism and moment received by a swing arm and a driving wheel in the whole process of movement; step 4, performing experiment study analysis on the data to acquire mutual influence relation between the moment of the swing arm and the driving wheel and movement state and inter-mechanism parts in the process of movement, and drawing a conclusion that the designed traveling mechanism can complete expected design functions. By the method, a data result of whole simulation provides important reference for subsequent optimization design.

Description

technical field [0001] The invention relates to a robot design method, in particular to a robot walking mechanism multi-rigid body motion simulation design method, which belongs to the technical field of intelligent electronic products. Background technique [0002] In the selection of robot walking mechanisms at home and abroad, there are mainly several types of walking mechanisms such as wheel type, leg type, and crawler type. According to different usage occasions, they range from three wheels to multiple wheels, multi-leg type, From two crawlers to multiple crawlers, the wheel-type moving mechanism can reach a higher speed of movement. The wheel-type has the highest efficiency, fast travel speed, flexible steering, low cost, and quick replacement of parts after problems. In addition, On a relatively flat ground, wheeled movement has both ideal advantages and relatively simple control. The wheeled movement mechanism is widely used today and is one of the most thoroughly r...

AI Technical Summary

Problems solved by technology

[0002] In the selection of robot walking mechanisms at home and abroad, there are mainly several types of walking mechanisms such as wheel type, leg type, and crawler type. According to different usage occasions, they range from 3 wheels to multiple wheels, multi-legged, and so on. From two tracks to multiple tracks, the wheel-type moving mechanism can reach a higher speed of movement. The wheel-type has the highest efficiency, fast travel speed, flexible steering, low cost, and quick replacement of parts after problems. In addition, On a relatively flat ground, wheeled movement has both ideal advantages and relatively simple control. The wheeled movement mechanism is widely used today and is one of the most thoroughly researched movement mechanisms. The traditional wheeled movement mechanism has three Wheel, four-wheel, and six-wheel mechanisms, especially the six-wheel mechanism is currently the most widely used obstacle-crossing type. Relatively speaking, the wheel-type mobile mechanism also has a great disadvantage, that is, for the requirements of the road surface, due to the small contact area with the ground. Subsidence and slippage are prone to occur on soft roads with low soil pressure or slippery roads. These are the functions of wheeled mechanisms that are limited in most complex outdoor environments. In order to improve the multi-terrain adaptability of wheeled walking mechanisms and their passage Due to the structural deformation of the traditional wheeled walking mechanism, four-wheel plus front and rear swing, six-wheel plus front and back swing, planetary wheel and other walking mechanisms with multi-terrain adaptability have appeared. The early robots did not have high requirements for road conditions, so The advantages of the wheel type have been brought into full play. In the ordinary road environment of the city, the wheel type mechanism is indeed the most suitable robot traveling mechanism, but its disadvantages are also obvious, that is, it relies too much on flat terrain and has low adaptability. Especially in the case of special road surfaces, harsh conditions such as climbing ladders, climbing, etc., the wheel type is not competent