Jixie chuandong (Mar 2021)
Design and Dynamics Analysis of Synchronous Mobile Steering Mechanism of Dodge Robot
Abstract
In view of the fact that the existing robotic mobile mechanisms on the market are driven more， the control is cumbersome， and the stability is poor， a synchronous movement steering mechanism for dodge robots with all-round rapid movement in the plane is studied. The driving motor and the steering motor cooperate to achieve all-round movement. In order to check the rationality of the establishment of the moving mechanism model， the Lagrangian equation is used to complete the dynamics analysis of the moving mechanism. The Adams software is used to complete the simulation of the virtual prototype of the mobile mechanism， and the relevant torque curves are obtained. Finally， the experimental test of the moving mechanism is completed. Through theoretical calculations， simulations， and experimental tests， the mutual verification between the three has further verified the accuracy of the establishment of the dodge robot mobile mechanism model.
