一种轮式移动机器人及主动姿态调整方法OA

Wheeled mobile robots are widely used in logistics,intelligent manufacturing,inspection and other fields,due to the lack of adaptability of the wheelset to the complex ground,the movement accuracy of the existing wheeled mobile robots in the complex terrain is not high,a new type of wheelset buffer mechanism that can realize height adjustment was proposed,and multi-ple wheelsets can cooperate and work together,achieving the purpose of the whole machine attitude adjustment.An analytical model of the attitude of the whole wheeled mobile robot was established;the support force model was derived with the constraint that the diagonal wheelset support force is half of the total support force;the ideal gas equation was used as the basis to obtain the inflation and deflation model of the cushioning mechanism,and the attitude adjustment strategy based on the coordination of multi-ple wheelsets was put forward,and was verified by simulation through Simulink software.The simulation results proved the effec-tiveness of the proposed active attitude adjustment method,which provides a novel solution for the high-precision attitude adjust-ment of wheeled mobile robots in complex ground environment.