Open AccessPassive Adaptive Robot Obstacle Analysis and Optimization
Author(s) -
Liang Sun,
Xiaoya Liu,
Zhilong Li
Publication year - 2019
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/585/1/012109
Subject(s) - obstacle , computer science , web crawler , robot , mechanism (biology) , terrain , linkage (software) , obstacle avoidance , matlab , simulation , control theory (sociology) , artificial intelligence , control engineering , mobile robot , engineering , ecology , philosophy , biochemistry , chemistry , control (management) , epistemology , world wide web , political science , gene , law , biology , operating system
In order to improve the obstacle performance of robots in complex terrain environment, a crawler passive adaptive robot is proposed, which is mainly composed of car body module and track module. The link mechanism of the track module has a degree of freedom, and the carbon fiber material has the characteristics of light weight and high rigidity. The obstacle course of the crawler module is introduced, and the mathematical model is established. The obstacle obstacle ability is analyzed. On this basis, the optimization parameters and the objective function are proposed. The rod length parameters of the linkage mechanism are optimized by matlab. The analysis and simulation motion analysis of the optimized linkage mechanism verify the rationality of the obstacle performance and structural parameter design of the robot.