Downhill Stability Analysis and Dynamics Simulation of the Six-wheel-legged Mobile Robot

摘要

In order to realize the traffic capacity in complex environments, this paper proposes a new omnidirectional six-wheel-Iegged mobile robot, which is composed of double crank climbing mechanism, parallelogram rotating mechanism and balancing mechanism. From the possible instability of parallelogram rotating mechanism, factors such as slope angle, friction coefficient, and direction of friction influencing the anti-overturning ability of the robot in downhill process are analyzed in detail. Then virtual prototype of the robot is established by using MSC.Adams, in which the dynamics simulation in downhill process is carried out. Through theoretical analysis and simulation of the mobile robot, the pre-tightening force of spring to maintain the balance of the robot's body is obtained.