The Structure Of A Miniature Smart Car Design And Performance Analysis

Faced with the needs for human to explore unknown environments and modern wars, people are paying more and more attention on the study about micro rover than ever before. The frame of rover is the facility that loads many instruments and devices, so its design is of great significance in the micro rover study. The rationality of the frame's design and the ability to adapt to the environments determine whether the rover will complete task successfully or not.Based on analyzing the research status of micro rover at home and abroad, the paper puts forward a new frame of the rover , which includes separated body, main-auxiliary connecting rod and six-wheel drive mechanism, and studies its obstacle performance . For designing the parts and ascertaining the wheel torque, the quasi-static model of the rover is developed and analyzed by simplifying the wheel-ground relations. As a result, the force and torque of different parts when passing obstacles can be acquired.Considering uneven terrain that rover may run, the relations between rover's body position and wheels'locomotive parameters are founded by applying the matrix coordinate transformation, and forward and inverse kinematics analysis of the rover are worked out. At the same time, the steady state and transient state characteristics of rover's steering system are presented and the influence that the main parameters of the body have on rover's steering performance is studied. All of above will be some theoretic basis for choosing the structures and parameters of the body and chassis in detail.