Chassis Mechanism Design And Motion Performance Analysis Of Tracked Explosive Ordnance Disposal Robot

In recent years,with the frequent occurrence of violent terrorist incidents,more and more countries have paid attention to the research on anti-terrorism equipment.As a typical anti-terrorism device,explosive ordnance disposal robots can replace human beings to complete the detection and disposal of explosives,thus effectively protecting the lives of staff,which makes the explosive ordnance disposal robots become an important branch of anti-terrorism equipment research.In view of this situation,an explosive ordnance disposal robot chassis without main track and with four swing arms that can swing independently is designed.The motion characteristics of the robot chassis under typical conditions of walking on slope,obstacle surmounting and steering are analyzed.A prototype of the robot chassis is manufactured,and the initial performances of the prototype are tested.The main research contents of this paper are as follows:1.According to the working environment and task characteristics of the explosive ordnance disposal robot,the overall function and design index of the robot chassis are determined.On the basis of comparing the advantages and disadvantages of typical walking modes such as wheeled,track and leg,an overall structure scheme of the chassis of an explosive ordnance disposal robot without main track and four swing arms swinging independently is proposed.Based on the size of typical obstacles such as steps,slopes and stairs faced by the robot,the constraint relationship between the critical dimensions of chassis structure and the size of obstacles is established,and the key structural parameters of the robot chassis are determined.2.The parameterized geometric model of the chassis of the explosive ordnance disposal robot is established,and the force acting on the chassis of the robot is analyzed in detail according to the typical motion conditions such as walking on slope,crossing the step and steering,the driving torques required for the chassis under different working conditions are obtained.Based on the torques,the motor and reducer types used for chassis driving and the parameters of the transmission mechanism are determined.3.The virtual prototype model of the robot chassis is established by Recur Dyn software,and the dynamic simulation analysis is carried out for the process of walking on slope,step crossing,self-supporting obstacle crossing and steering,which verifies the correctness of the theoretical analysis results of the walking performance and the validity of driving source selection.4.The three-dimensional model of the mechanical structure of the main body and the swing arms of the robot chassis is established by using Solid Works software.And the finite element static analysis of the chassis box structure is carried out.When the bearing capacity of the box was verified to meet the requirements,the prototype of the robot chassis is made and the motion performance of the robot chassis in the process of ascending and descending stairs,self-supporting obstacle crossing and steering is preliminarily tested.The test results show that the comprehensive performance of the robot chassis basically meets the design requirements.