Dynamical modeling and experimental analysis on the mini-type ground-moving robot

This paper does the study making a target of six tracks ground-moving robot. The objective is to develop a ground mini-robot which is applied to rough environment, such as urban road, stairway. Small mobile robot through the unique design of the chassis structure, the use of before and after Arm, a total of six tracks, can change the shape of the chassis, meet under different circumstances demand, Picking up even completed moves to improve the chassis height for a certain depth of the reservoir. Robot through obstacles and secure its own, complex state of stress, the joint electrical load requirements are also larger. At the right spot steering motor driven load demand high, and the force and wheeled chassis completely different. This paper focuses on six tracks ground-moving robot picking up, climbing over obstacles, marking a shift dynamics modeling, and analysis. Through practical experiments, the acquisition of the actual motor current data, processed to verify the theoretical conclusions. And with the following conclusions : Marking to drive motor output torque and speed to no relationship, only with the body's own attributes and ground friction, Experimental Robot situ turning movements to the conditions that : track and the road to the friction coefficient of less than 0.28; The same speed, stair climbing and climbing need the same basic driving force, But Stair-climbing is driving motor torque output data larger variance that will suffer a bigger robot. In this paper, in the analysis and test for the future to further improve the chassis design and provide a theoretical basis for the experimental data and support.