Návrh a analýza lokomočního subsystému servisního robotu pro pohyb ve členitém terénu

Abstract

Thesis is focused on design of locomotive subsystem of mobile service robot intended for movement in broken terrain. The introduction of thesis is devoted to description of the area affected by crisis situation as well as to description of possible scenario considering an intervention with and without mobile service robot using. Following part of the work is analyzing current state of mobile service robots that are intended for crisis situation solution. On the basis of this analysis there are determined some parameters of expected locomotive subsystem. In accordance with next requirements a design of four-wheel locomotive subsystem of mobile robot is made. This subsystem is analyzed in view of the possibility for individual wheel steering (maneuverability). Next part of the thesis brings the design of mechanism for torque transfer from control section to the wheel of robot. Next step consisted of necessary power determination for drive units that is required for movement on highway ramp. There are used relations resulting from the equilibrium conditions of forces and torques. Obtained values are consequently compared with results of simulation executed in software MD ADAMS. Similar procedure was executed for ashlars obstacle but with more advanced algorithm based on the moment control principle utilization. The results of simulation are again compared to the solved ones. Analysis of robot movement upstairs is done only with focus on possible crash. The conclusion of thesis summarizes design of front as well as rear axletree of the robot chassis. There is suggested possible solution of problem raised from designed mechanism for wheel steering.