Design and motion analysis of a new wheeled rolling robot

Abstract

Because the wheeled rolling robot has the characteristics of fast movement, high work efficiency and strong bearing capacity, it can be applied to industrial production and detection. Aiming at the problems of low motion efficiency and a large number of drivers of rolling robots based on the parallel mechanism, a new type of wheeled rolling robot composed of a planar 3-RRR parallel mechanism and a spoke-type variable-diameter wheel is proposed in this paper. By adjusting the output of the 3-RRR parallel center of gravity adjustment device, the robot can deform and roll. In this paper, the spoke-type variable-diameter wheel is designed and the eccentric torque workspace of the 3-RRR parallel center-of-gravity adjustment device is optimized. On the basis of clarifying the relationship between wheel diameter scaling and input angle, the kinematic and dynamic models of the wheeled rolling robot are established and simulated by Adams. Finally, the prototype was built and the experiments were carried out. The results show that the wheeled rolling robot has the ability to linearly roll, turn and climb at small angles.