Abstract
Staircase is the most common man-made obstacles, and it is also one of the main obstacle to cross for mobile robot. The thesis major introduce the designing of the wheelesets stair-climbing robot. After deeply analysis the stair-climbing frame and the object, considering the variablility of staircase climbing structure, a new type of wheelsets mechanism which can strongly adapt to the staircase was developed. The running mechanism of the planetary wheel is composed of 4 groups of planetary gear train, which is equal to the propulsion of the round of 8×8. Along with the difference of the acting force of the wheel to the ground, the propulsion train may evolve into the dead axle trains or the planetary gear train correspondingly. The analysis of the statics and kinematics indicate that the more the structure size of the planetary gear train the gauge and the tire diameter, and the structure size of the chassis the center of mass to the front axle’s distance.The mechanism ensure that the robot has good mobililty, which working modes can be well converted between the stales of travelling on the ground, climbing the functions are introduced the transmission structural characteristics of robot and realization of its kinematianism designetc of robot are decribled in detail. According to the main structure parameters of design, finally drawn 2D CAD parts and assembly plans. Overall, the thesis made a good platform for designing a better frame and more intelligent controller.
Key words: Stair-climbing robot; Obstacle-crossing mechnism; Gear system;
Transmission design
目 录
摘 要 I
Abstract II