Reset Parameters Analysis of the Passive Deformation Mobile Robot Platform

摘要

The robot adopts a mobile platform designed for post-disaster environment information collection which can deform passively. The robot deforms when the robot is cross obstacles, the robot will reset after through the obstacles. Mobile platform's reset ability is determined by the reset parameters, reset parameters include spring stiffness, initial length, and installation position. The relationship between ground constraints and reset spring is established by static analysis; optimization of reset spring parameters is conducted by using the least energy consumption in the attitude changing as a target in Matlab. The optimized parameters reduce the energy cost effectively in the condition of satisfying the movement requirements, which verifies the correctness of the optimization results.