Virtual Prototype Of The Tracked Mobile Robots And Kinetic Analysis

Portable track mobile robot has been a hotspot for its promising application.In this thesis, present the generating background of robots and the statues quoof research both domestically and internationally. Virtual prototype and itssupporting technology are briefly introduced. Portable track mobile robot wasdesigned. Its three-dimensional models of parts and assemblies were built onSolidWorks. And some parts static performance was analyzed with COSMOSWorks.According to great difference of moving performance between track robot and wheelrobot, put emphasis on the analysis of dynamics, and introduce its rectilinearand veers movement with dynamics model.Aiming at the special structure of the robot, track—joint, this paper mainlyanalyses the whole process of the track mobile robot in crossing the obstacle.And build the mechanics equation for every motion in crossing the obstacle.At the end of this thesis, elaborate the model-building theories and theanalyzing approaches of ADAMS. Simulate the rectilinear and crossing obstacleusing dynamics analysis software ADAMS. At last, obtain the relation betweenthe confliction and the power. Some information for the research of the mobilerobot is provided in the days to come.