Kinematics Analysis and Simulation Verification for the Chassis of Mobile Robots Based on An Obstacle-crossing Index

摘要

Due to the imperfect evaluation index of obstacle-crossing, the design phase of the mobile robots' chassis is mostly based on subjective experience, and there is a lack of effective standards and methods to verify the stability of obstacle crossing performance after the design is completed. This paper proposes a universal index of the mobile robots' obstacle-crossing performance under considering different road conditions. We perform a kinematics analysis of the mobile robots' chassis to verify the omnidirectional mobility. Based on this, we carry out the obstacle-crossing simulation of the chassis based on the basis of ADAMS. Aiming at the road conditions of deep groove obstacle, step driving, climbing and flying slope, this paper establishes the virtual prototype model on the basis. In order to improve the simulation efficiency, this paper simplifies the chassis model. Finally, we get the obstacle-crossing simulation data and complete the verification with the obstacle-crossing index. The results show that the mobile robot chassis can meet the requirements of movement and load, and it can successfully complete obstacle cross under different road conditions. This general chassis can be used as a reference for future mobile robots' chassis design to improve design efficiency.