Obstacle-surmounting modeling and simulation of wheeled Robot

DING Yu-feng， ZHANG Yun-qun， GONG Li， LI Wei， SHENG Bu-yun
（College of Mechanical and Electrical Engineering， Wuhan University of Technology， Wuhan 430070， China）

Abstract： In order to solve the problem that in the disaster site of city，it is not easy for a person to enter into many narrow space，and make full use of wheded robots to conduct，search and rescue， the detachable robot structure was designed firstly，and the process of obstacle-surmounting was analyzed in theory，and then kinematics and statics simulation of the robot was carried out by using Matlab. The simulation and experimental results of the motor drive torque verify the relationship between the main body of the robot arm length ratio and height，provide a theoretical basis for the more impaired ability of the small robot in complex environments.
Key words： wheeled robot；obstacle process；Matlab