基本信息：5X00500G01 1X00691H01 EMERSON 控制器模块

5X00500G01

It’s not determined by things like whether the axes are next to each other or in a plane. The reason for the coupling is the cross-joint drive assembly layout.

If the entire drive path of the n-axis is not just between n-1 and N-axis, but across n-1 or even n-m, coupling will occur. For example, if the six-axis motor is not fixed on the five-axis structure, but is mounted on the three-axis structure and then transmitted to the six-axis through the transmission mechanism, then the movement of the four-axis and five-axis motors will cause the six-axis movement when the six-axis motor is stationary.

The internal mechanism is not difficult to understand, because this cross-cycle transmission is usually achieved by shaft, gear, belt, and connecting rod. In the case of spanning several axes, these transmission mechanisms must also be divided into several stages of graded transmission. In this way, even if the drive motor is stationary, if there is relative movement between poles, this movement will be transmitted step by step to the final axis (axis), causing unwanted movement. To decouple, it is necessary to make the drive motor make compensation action according to the coupling ratio and direction after quantitative analysis of the coupling, and offset the influence of other shaft movements.

Mobile robots have broad application prospects in the fields of national economy and national defense construction such as leak repair and disaster rescue. They cooperate with robotic arms or detection tools to carry out operations and detection that are difficult for humans to complete, which directly affects the operation efficiency of robots. However, limited by the dynamic and changeable obstacle terrain such as petrochemical sites and disaster relief sites, traditional mobile robots are difficult to meet the operation needs. Its passability, stability, flexibility and other properties need to be improved.

To solve the above problems, based on the passive deformed wheel and flexible articulated device, this paper innovatively designs a wheel-leg compound multi-drive module articulated mobile robot that can adapt to complex and variable obstacle terrain by referring to the centipede body structure characteristics, and carries out in-depth research on the mobile mechanism, kinematics, mechanics, stability and other key issues of this new mobile robot.

The main research work and achievements of this paper are as follows:

1. In order to enhance the overall performance of the mobile robot, research and learn from the body structure characteristics of the centipede, design and reference the passive deformed wheel with high deformation ratio based on the four-bar mechanism and the flexible articulated device capable of rigid and flexible transformation, and develop a wheel-leg compound multi-drive module articulated mobile robot that can passively adapt to complex and variable obstacle terrain. The four-bar mechanism in the passive deformed wheel is optimized, and the structural performance of the key parts of the robot is verified by simulation.

2. By building the kinematics model of the single drive module of the robot, the overall pose equation of the robot is established based on the kinematic constraint relationship between each module, and the flexible motion control method of the robot is proposed. Based on the analysis of robot motion characteristics under special obstacle terrain, the relationship model between obstacle parameters and robot posture is built. Based on the analysis of robot motion in plane and unilateral instability states, the correction strategies of unsteady motion in two states are proposed.

3. Based on the research on the passive deformation mechanism of the wheel under external forces and the overall force analysis of the robot under the coupling state of multiple drive modules, the mechanical model of the robot over the obstacle is systematically established. From the mechanical perspective, the stability model of the robot for each limit attitude and its critical tipping conditions are derived by using the stability cone method, and the passability of the robot under various obstacles is analyzed. The limits of different obstacles that the robot can cross are obtained.

4. Built the overall architecture and experimental platform of the articulated mobile robot prototype system, and carried out a series of comprehensive experiments on the obstacle crossing performance, motion flexibility and stability of the robot.

The experimental results show that the structure design of the robot is reasonable, the theoretical analysis is correct, and the robot has strong obstacle crossing performance, motion flexibility and stability, and can passively adapt to the complex and changeable obstacle terrain.