| In order to execute the task of inspecting welding defects, spray painting and corrosive status under some complex condition, designing the tracked mobile robot taking device to replace the manual labor is an economical and effective way. Such robot must possess a high level of moving performance and reliability. This paper discusses the implementation of a mobile track robot system and way to improve its performance.To improve its performance of obstacle climbing and passing over ditch, the mechanism of the robot main body adopts the articulated track structure. The robot can work in some narrow spaces thanks to the compact design of the structure. The reliability analysis of the main component insures it can work steadily in complex condition.Secondly, the control system adopts modular design method. The vehicle mounted control system which is designed based on the main MCU dsPIC33FJMC202 realizes the control of robot's speed and position precisely. The wireless communication control system realizes the remote control of the mobile robot. The wireless data transmission modular and the special control software realize the communication between human control center and the robot in remote area.In addition, analysis of the performance of the robot was done. To improve the capacity of obstacle climbing motion, two different types of plan of climbing motion are discussed in this paper. As the position of centre of gravity is the key factor that affects the climbing motion, the kinematic model of its position is developed. The trajectory plan of the input parameter in the model and path plan of CG position is realized based on the model. The optimal method help to deduce the best solution of the math model which optimized the trajectory plan of obstacle climbing motion. Finally, the feasibility of the trajectory plan is identified by simulation of Matlab and field experiment. |
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