Two-wheel differential wheel type mobile robot experimental platform with adjustable gravity center

Abstract

The invention discloses a two-wheel differential wheel type mobile robot experimental platform with an adjustable gravity center. The two-wheel differential wheel type mobile robot experimental platform with the adjustable gravity center is characterized by comprising a base plate, wherein a driving system is arranged on the base plate, three supporting rods are evenly distributed in the upper direction of the base plate, three cross rods which transversely extend towards the center and then are connected and fixed into a whole are respectively arranged at the tops of the three supporting rods, a lifting mechanism is arranged in the middle of the cross rods, a two-dimensional platform is arranged in the middle of the supporting rods, a balance weight and a two-dimensional moving mechanism used for driving the balance weight to move along the level plane of the two-dimensional platform are arranged on the two-dimensional platform, and the lifting mechanism is used for driving the two-dimensional platform to do lifting movement. The two-wheel differential wheel type mobile robot experimental platform with the adjustable gravity center has the advantages that the structure is simple, the gravity center moves rapidly, sensitively, accurately, and controllably in the three-dimensional direction, and is particularly suitable for being used for researching the influence relationship between the moving condition of the gravity center of a robot and the moving condition of the robot.

Description

technical field [0001] The invention relates to a robot test platform, in particular to a two-wheel differential wheel mobile robot test platform with an adjustable center of gravity. [0002] Background technique [0003] With the development of society and the advancement of science and technology, mobile robots are playing an increasingly important role in the fields of industry, military and aerospace. Among the robots, the two-wheel differential wheel mobile robot has the characteristics of low cost, simple and reliable structure, etc., and is most widely used in the field of mobile robots. Two-wheel differential wheeled mobile robots generally adopt the structure of two symmetrical driving wheels on the left and one universal wheel, and rely on the speed difference between the left and right driving wheels to realize the different radius steering of the robot body. The position of the center of gravity of the robot will directly affect the motion performance of the m...

AI Technical Summary

Problems solved by technology

[0009] Although the existing above-mentioned patents have designed related adjustable center of gravity devices, they are all based on practical requirements, are all qualitative adjustments, and require a lower center of gravity to ensure the stability of robot movement, which cannot meet the requirements of experimental research. For the adjustment of the center of gravity in quantitative , speed, range and other requirements

Therefore, the center of gravity adjustment device of the above-mentioned patent can be used in actual robot applications, but it is not suitable for experimental research

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