Research On Structure Design And Passability Of Tracked Passive Adaptive Robot

This paper studies the high mobility,strong terrain adaptability and information acquisition and rescue robot in the field of dangerous disasters.With the rapid development of intelligent robots,rescue robots have been applied to the scene of earthquakes and fires.Robots can assist rescue workers to quickly enter the disaster site,carry out rescue work and reduce casualties.The unstructured terrain environment of the dangerous disaster site requires the mobile robot to be able to adapt itself to the terrain environment and have good passing performance to collect the information of the field environment.This paper proposes a kind of tracked passive adaptive robot.The main innovative work of this paper are as follows:1.This paper proposes a new type of passive adaptive mechanism,which is an under-actuated mechanism that can adapt to complex terrain environments.Through the evolution and optimization of the quadrangular link mechanism,a new type of six-link deformable walking is proposed.Mechanism to optimize the parameters of the connecting rod and determine the rod length parameters.Mechanism,designed an independent single trailing arm triangle suspension,which can effectively alleviate the impact of the ground;establish a three-dimensional model of the mobile robot,and introduce the overall structure,principle and installation method of the robot in detail.2.Analysis of the passability theory of tracked passive adaptive robots.Based on the classical mechanics and geometric relationship,determine the center of mass position of the overall robot.Theoretical analysis of the passing performance of typical obstacle slopes,bosses,and trenches is calculated.The theoretical limit value of obstacle crossing performance provides a certain theoretical basis for later simulation and prototype verification.3.Establish a multi-body dynamics model for a tracked passive adaptive robot,use Recur Dyn software to establish a passive adaptive mechanism module model,establish a geometric model of the overall robot,and determine the main simulation parameters as speed and soil parameters;create slopes,steps,and The terrain model of the trench was used to quantitatively analyze the typical obstacles according to the simulation parameters to select the good passing performance of the mobile robot.4.Machining parts and assembling prototypes,completed prototypes of crawler-type passive adaptive robots,and carried out obstacle-crossing tests on slopes,steps,trenches,ruins,and field grounds,observing obstacle-crossing processes,measuring obstacle-crossing data,and simulation experimental data results.The comparison is performed to determine the passing performance of the mobile robot and to verify the rationality of the mechanical structure and parameter design.