Modeling, Simulation and Implementation of All Terrain Adaptive Five DOF Robot

Area of Science:

• Robotics
• Mechanical Engineering
• Biomechanics

Background:

• Off-road robot obstacle traversal is critical for environmental task completion.
• Existing designs often struggle with complex and varied terrains.
• There is a need for robots with adaptive capabilities to overcome diverse obstacles.

Purpose of the Study:

• To propose and validate a novel adaptive all-terrain off-road robot design.
• To enhance the obstacle-traversing capabilities of off-road robots.
• To investigate the relationship between body joint articulation and terrain adaptability.

Main Methods:

• A five degree-of-freedom robot model with a modular, arthropod-inspired body structure was designed.
• A mathematical model was developed to describe body joint changes and terrain adaptation.
• Obstacle-crossing simulations were performed using Adams software.
• Finite element analysis (FEA) was conducted using Ansys software.
• Real vehicle tests were performed for validation.

Main Results:

• The adaptive robot demonstrated feasible obstacle traversal and good load-bearing capacity.
• Simulations confirmed continuous traversing of low obstacles and breakthrough capability for high obstacles.
• FEA validated that the wheel connection strength meets material requirements.
• Real vehicle tests corroborated the simulation findings.

Conclusions:

• The designed adaptive all-terrain off-road robot is feasible and effective.
• The modular, deformable body structure significantly enhances obstacle traversal and adaptability.
• The robot exhibits good carrying capacity and all-terrain passability.