Research On Track-Link Compound Mobile Mechanism

Different ground-moving mechanisms have unbalanced performances on their trafficability, when they face complex environment. It has always been a hotspot to develop a ground-moving mechanism for different countries and research institutes, which can perform complex tasks in complex environment.Tracked mobile mechanism has excellent trafficability but flexibility and extensive changes in attitude. The traditional tracked mobile mechanism is subjected to certain constraints in terms of improving trafficability. According to the research on acrossing a variety of typical obstacles of tracked mobile mechanism, the paper proposes a compound approach of track and link. This approach points out how to compound tracked mechanism and linkage into the track-linkage compound mobile mechanism. And it can guide how to select appropriate link mechanism to compound with a certain number of tracked vehicles. On the basis of the concept of track-linkage compound mobile mechanism, kinds of solutions utilized link mechanism to improve trafficability are proposed.To prove the feasibility of the track-link compound mobile mechanism scheme, trafficability and gait analysis is carried out to differernt track-link compound mobile mechanisms, which are mentioned in different solutions. Based on the analysis the trafficability of the tracked vehicle, ADAMS software is used for the virtual prototype simulation analysis. At the same time, PACKBOT is taken as reference to carry out comparative research.After the theoretical analysis and the virtual prototype simulation and based on modular design, the components of the system are designed and related accessories are selected. The 3D model of the compound mobile system is established and assembled by Solidworks. And the rationality of the compound mechanism is checked out in the process simultaneously. At last the prototype is assembled and is tested in a variety of experimenta about trafficability after all the designed drawings of the mechanism are drawn.The correctness of the compound approach that benefits through the improvement of trafficability of mobile mechanism is proved once more after the prototype experiment is carried out.