Design and Study on a Self-Controlled Walking Car

摘要

Aiming at the problems of mechanical structure design and trajectory planning of a self-controlled walking car, we proposed a design scheme of the autonomous obstacle avoidance car driven by gravitational potential energy. The entire moving energy of the car came from the gravitational potential energy produced by the drop of the weight, which was transmitted by the gears. The critical torque of the car movement and the minimum diameter of the winding wheel were analysed, and a mechanical structure composed by two kinds of bearing was designed. Some key parts are obtained from 3D printing, which is convenient and fast. Through the infrared module and the ultrasonic module detecting obstacles and the encoding disk measuring distance, the car could run straight along the side of the track when it was free of obstacles, and turn around when it detected obstacles. The three-dimensional simulation analysis of Solidworks and related theoretical calculation were carried out. The results indicate that the car is responsive and stable. Its maximum driving distance is 31.5m, and 29 obstacles can be bypassed.