Abstract Research on obstacle properties of small robot based on abnormal wheels Major:Computer Architecture Author:Ge Geng-yu Supervisor:Prof.Wang Yu-jun Abstract Mobile robot applied in fields like military reconnaissance,disaster rescue,fire EOD, agricultural monitoring,lunar exploration etc,gradually become the trend.The environment of these special areas are mostly complex terrain of non-regular,such as wild jungle,ruins after the earthquake,the building after fire,rugged mountains,the bumpy surface of the moon etc,so studying on obstacle manner and the ability become one direction of many scholars'interests.Small robots are always used in the special areas,needing small size and light weight,has a certain capacity,environmental adaptability and high mobility.Miniaturization and obstacle ability belong to a contradiction.In this paper,considering of getting both the mobile efficiency and obstacle ability, we put forward a kind of small robot model based on abnormal wheels,which is quadruped eccentric wheel-legged robot.The robot has the same efficiency compared with a wheeled robot and high obstacle crossing ability independently. Features of normal wheels are analyzed in the beginning of this paper.After compared the two possible improved results,we choose the eccentric wheel as the walking unit,make four eccentric wheels as a group and make into robot.Then we design gaits for the robot.In the second part of the paper,we analyze the robot structure by kinematics and dynamics methods,find the law of motion of eccentric wheel and construct a reference coordinate system to analyze the state of robot's movement in the kinematics part.Assuming the robot's weight evenly distributed in each of the eccentric pivot point,we describe the force state of eccentric wheel and analyze the dynamics state of the whole organism.The third part of this paper,compared with the ordinary wheeled robot, we describe the obstacle-crossing course and principle of the quadruped eccentric wheel-legged robot and get the obstacle-crossing capability under various environmental obstacles through theoretical calculation.The obstacle environment is divided into four typical species,which are slope,single step,convex object and small gully.The last part,we do a lot of experiments to verify ⅢAbSn琶Ct Research 0n obStacle properties of smaU robot based 0n abnormal wheelS Major：Computer Architectllre Author：Ge Geng-yu SuperVisor：Pro￡Wang Yh_j un AbStraCt Mobile robot applied ill fkldS lil(e militaDr 11eco蛐Iaiss锄∞，disast盯11escue，fi他EOD， a鲥cultul均l m砌蜘I玛，luII盯e)(p1删∞etc，乎删ly become t11e t11胁d。The enVironm髓t of nl嚣e special绷s are moscly c伽叩leX teI讹of non一坞gul甄such鹊wild j岫gle，ruins a丘er也e 锄qual【e，me buildiI培aR盯蠡re，mgged momItaills，tlIe b岫py surf配e of廿le moon咖，so st蛐g on obstac_le m锄盯锄d也e abili锣bB啪eⅨ圮direction of many s醴lolars’i11钯re啦．Smn rob0怊a他always吣ed iIl the sp旧cial a∞嬲，m增目diI唱鲫aU si∞锄d light weight，h∞a c盯taill 唧∞ity，∞V的岫即tal adjlptabil时锄d high mobil咄MiIIiatIIrization锄d obstacle abil时bel∞g to a con仃砸icti∞．Ill也is pap％consi捌ng ofgetting bom the mobile emci锄cy锄d obstacle曲ili饥 wepIItf01wardal(iIldof锄allrobotmodelbased鲫曲n锄alwh∞ls，wtlichis q岫d州ecc朋tric wI雠l—legged rol斌．The robot h弱Ⅱle s锄e e伍ci饥c)，compa他d wim a wh∞led robot狮d lligll obstade crossing ability iIl出：pend锄tly． F翩tu他s of nomal wh∞ls are锄alyzed ill也e begimlillg Of也is paper-Aft嚣compafed也e 铆o possible improVed他sIllts，we choose me ecc锄嘶c Wheel猫tlle、va墩ing砌t，maI【c f．0Ilr eC洲c池ls鹊a gro印锄d mal【e int0 robot．，nl钮we desi班gaitS for tlle robot．hl廿1e s∞∞d part of廿le paper，we锄alyj∞tlle robot蚰撇Il他by kiIlematics and dyn锄ics memodS，伽Ⅱle law ofmati∞of cc∞嘣c妇l and co璐咖ct a re向．锶∞c0钾diIlate sy呶盥to髓alyze也e state of robot’s movem酬iIl tlle lcin锄atics part．As跚miI鸣tlle robot。s、veight ev∞ly distributed iIl e∞h of t11e ecc酬c piV0t poi蝇we dcs喇be me fo】nce state of∞c朋tric wheel柚d锄aly跫tlle dyn锄ics s‰ofⅡle whole o玛aIli锄．The third part of tllis paper’compared with也e ordinary wheeled rob畎 we des嘶be廿le obstflcle-crossiIlg courSe锄d肿．mciple of廿le q腿dnlped ecc∞tric wh∞l-le黯嗣 robot锄d get曲le 0bst∞le．crossing capabil崎und盯VarioIlS翎Vironmental obgtacles through 协eoretical calculation．The obst们le∞Viro姗钮t is diVided iIlto four帅i髓l Species，which are slope，sill西e姗ep，conVex object雒d锄all gully．The 1ast pan’we do a lot of e)币e曲州ts to v丽匆 m