Adaptive Terrain Spider UWB Following Delivery Robot Based on Spring Suspension and Edge Computing

This paper presents a spider-type transport robot that can adapt to the complex environment of construction sites. The robot consists of a multi-spring suspension shock absorption system, four wheel motors and a steering system, which can form a rigid-flexible composite deformable mechanism. Its body structure can be deformed like a spider to adapt to the terrain. By building a mathematical model, the relationship between the body and the joints can be described. Then the motion simulation and mechanical analysis of the robot are carried out using Adams and Ansys respectively to find out the critical stiffness of the spring and select the appropriate value to verify the ability of the robot to accomplish the task of crossing obstacles. Finally, an electrical control system was designed to realize the robot's following function while being able to cross barriers and verified in real vehicles through edge computing of UWB.

Automated summary

This paper introduces a spider-type transport robot that can adapt to the complex environment of construction sites. The robot consists of a multi-spring suspension shock absorption system, four wheel motors, and a steering system, forming a rigid-flexible composite deformable mechanism. Motion simulation and mechanical analysis were conducted using Adams and Ansys to determine the critical stiffness of the spring and verify the robot's ability to cross obstacles. An electrical control system was designed to achieve the robot's following function and was validated in real vehicles through UWB edge computing.