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Research on Obstacle Surmounting Performance of All-terrain Eight Wheel Drive Robot

机译：全地形八轮驱动机器人越障性能研究

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摘要

A new type of eight-wheel drive robot with high obstacle performance is developed by using the variable structure design by using variable centroid method. The motion mechanism of robot crossing vertical step is studied through D'Alembert's principle. The control strategy of active adjustment in obstacle surmounting is revealed. The ADAMS simulation model of the robot is established, and the obstacle surmounting process of the vertical step is simulated, and the kinematic characteristic curve of the robot is obtained. Based on the motion control for the obstacle, the obstacle surmounting experiment of robot prototype is carried out. The theoretical model calculation, simulation analysis and obstacle surmounting performance of robot are verified through experiment.
机译：通过变质心法的变结构设计，开发了一种新型的具有高障碍性能的八轮驱动机器人。通过D'Alembert原理研究了机器人跨过垂直台阶的运动机理。揭示了障碍物越过主动调整的控制策略。建立了机器人的ADAMS仿真模型，模拟了竖向障碍物的越过过程，获得了机器人的运动学特性曲线。基于障碍物的运动控制，进行了机器人原型的障碍物越过实验。通过实验验证了机器人的理论模型计算，仿真分析和超越障碍物的性能。

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