| At currently, with expansion of human being's moving scope and requirement of practical application, moving scope of moving robot extended from simple structuring circumstance to complex non-structuring circumstance. Profound research of combined type moving automaton system and its key technique will have very important theory and practice meaning.This paper studied caterpillar moving robot system, and builted model machine.The model machine have problems when it crossed vertical obstacle, this paper studied this problem, analysised the failure of crossing obstacle, presented solving ways, this is added torsion spring and balance knuckle on the model machine in order to improve its crossing capacity, test result indicated this method is effective.Caterpillar track-moving structure have complex mechanical property, the constraint relation between caterpillar track and carriage wheel is difficult to describe. Traditional design method usually decide component dimension from experience and test, it is a waste of time and money. Mechanical system dynamic simulation technique is developing quickly since 20th century 80s, its key is mechanical system dynamics and dynamics artificial technique, this technique has dominance on shortening development circle and cost reduction. This paper use the latest multibody dynamics analyzing software RecurDyn on the caterpillar track mechanism model machine, build model on carriage, caterpillar track circle and road surface, did analysis on the problems.Major discussed influence of spring rigidity, Caterpillar track pre-tension force, center-of-gravity position on obstacle capability of Caterpillar track-moving structure, did obstacle performance analysis on Caterpillar track-moving structure, offer hands-on and theory support for later simulation modal built, parts design and layout. |
