| From this paper, the functionality and performance which robot travelling mechanism required are proposed, and a new robot travelling mechanism is designed combined with the current mobile robot technology, it will be used as a detection, investigation and anti-riot platform.Through the investigation and research for the mobile robot travelling mechanism performance, research survey and some typical mobile robot travelling mechanism research, summarize its advantage, combined with the function the paper need, propose an new robot travelling mechanism an its virtual prototype model. The new robot travelling mechanism is composed with wheel, track and crank rod mechanism.The motion such as trench, hathpace and other obstacles of unstructured environment are analyzed, base on it, the configuration size of robot travelling mechanism are designed, calculate the power of robot travelling mechanism driver under the flat areas and slope terrain, according to the result chose the Maxon dc-servo motor and Eisele bear box. The configuration which composed of driver system, crank system and rod system is designed under the result of its motion analyzed and the size of motor and gear box.The 3-d parametric model is build with the modeling software, it build the robot travelling mechanism virtual prototype model and typical trench and hathpace terrains, and successfully completed the exchange from the UG to the multi-rigid-body dynamics software ADAMS/VIEW.Such as the mass, material and other constraint of the robot virtual prototype model are set at ADAMS/VIEW setting environment. Under the typical unstructured environment, we build the robot travelling mechanism motion simulation under the trench and pathhace terrains, get and verification the velocity,crank torque,driver and other result if it satisfy the required and performance proposed.At last, through the paper research , propose a further optimization scheme, and propose the prospect for the design of mobile robot travelling mechanism. |
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