A Research On Design And Analysis Of Special Ground-Mobile Robotic Mechanical System

With the gradual improvement in the modern form of warfare, Ground mobile robot is more and more into the national military establishment. With the gradual improvement in the robot technology, application field of the mobile robot become from the indoor structured environment to the outdoor unstructured environment like battlefield, mining area, the ruins etc. The mobile robot task demand from the previous investigation, troubleshooting, development of explosion-proof, sight, firepower more complex tasks such as. The requirements of the development of a more widely varied tasks,some special design and analysis method should be used to improve trafficability, load capacity, impact resistance, stability and reliability of the system obstacle. So in this paper, Research and development of a small Ground-mobile Robotic prototype, In view of the prototype in mobile robot design key technology, mobile vehicle tracks-ground Terramechanics, the upper mounting platform analysis, a variety of special work condition of robot dynamics modeling and other aspects of the research, and experimental research was done.The mobile robot system is designed by the module partition method which the robot task demand. And then Design a mobile chassis and three upper mounting, Include two degree of freedom platform, weapon equipment mechanical hand, heavy ability of grasping mechanical arm. The mobile robot can both in City Road high-speed mobile and through ruins or stairs unstructured road, on the transmission system is presented both high speed and large output torque of two requirements. Combination of ground mobile robot working condition, analysis under different conditions of robot on dynamic performance requirements, the power matching calculation. On the basis of the design was completed for ground mobile robot with variable gear transmission mechanism research. Solved the contradiction between high speed and large output torque.Mobile robot chassis is the the base of movement, the track-ground interaction is the basic of vehicle drive. Research of tracked ground interaction, establish chassis dynamics model is the premise of follow-up study. In this paper, based on the theory of theory to build chassis ground dynamics model,Including Soil characteristics and soil model, track-soil contact model, the vehicle driving dynamics model.Which track-soil contact model is most complex. Then the steering resistance torque modeling while lateral resistance and the pressure are linearly distributed is proposed. After that steering resistance moment modeling based on the stress-strain theory is used to describe the robot’s steering resistance above different soil. Among them, the lateral resistance is nonlinear distribution. The driving experiments in three different vehicle terramechanics models are simulated and analyzed. Steering resistance moment modeling based on the stress-strain theory is closer to the actual working state of the robot. This modeling method for steering resistance moment has advantage on optimization and study in and control algorithm.The upper mounting is a mobile robot to complete the task of executing element, its dynamics study of mobile robot is an indispensable part of kinetic research. In the course of practical application, the vehicle and upper mounting is indivisible,not only in structure relation, but also dynamics are coupled to each other. Carrying the load bring great changes on the center of gravity and through performance of the whole robot. The upper mounting movement including acceleration impact on the vehicle-ground mutually. According to the three layer with use of Newton Euler method to establish the kinematics, dynamics model.Then in four typical work condition is exemple:For two degree of freedom platform of mobile robot with ground interaction, Mechanical arm-the chassis system and ground interaction,Climb the stairs,Emission.In the above set up based on the kinetics of the whole robot. Considering the mechanical arm dynamic role of tracked robot system dynamics model, in order to further optimize the robot structure, improve the control algorithm provides theoretical basis. Climbing stairs is a mobile robot obstacle of extreme working condition,Analysis of the obstacle negotiation kinematics, dynamics modeling process in detail, Analysis of the effect of gravity on negotiation. Emission is one of the bad working condition for mobile robot,the dynamic properties is very large,Study the initial disturbance on emission, And guide the control program, to achieve the required intensity of purpose.Finally,several experiments are designed for the ground mobile robot prototype:the no-load test, road test, obstacle test, emission test. These test results validate the analysis results and verified practicability of the design.